Article handling system and method and article management system and method

ABSTRACT

A camera or other sensing unit senses the conditions of articles and mobile entities, including humans within a living space. An article management/operation server manages, within an article database, attribute information about the articles, including operators, according to the information from the sensing unit. The server receives a user&#39;s instruction, input through a console unit, and refers to the article database to convert this instruction into a control command, which is then transmitted to a life-support robot.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.11/293,771 filed on Dec. 2, 2005. This application also claims thebenefit of Japanese Patent Application Nos. 2003-156205 filed Jun. 2,2003 and 2003-158346 filed Jun. 3, 2003. The disclosure(s) of the aboveapplication(s) are incorporated herein by reference.

BACKGROUND OF THE INVENTION

1. Technical Field

The present invention relates to a technique for supporting managementor handling of an article in a life space, i.e., a space in which humanbeings live, such as an ordinary house, office, hotel, store, hospital,or the like.

2. Background Art

Conventionally, robots have been used effectively in a broad variety offields. For example, a robot having an article grabbing mechanism isused on an automated production assembly line in a factory forgrabbing/carrying parts or in an automated warehouse forcarrying/managing stocked merchandise. Such application of the robot hasan abundant number of examples.

The shape of such industrial robots is limited more or less to arectangular parallelepiped, or the like, even when they handle articlesof the same shape and size or have some flexibility. A technique ofusing a robot in view of such circumstances for improving the efficiencyin a carrying operation has been disclosed. A typical example disclosedin Document 1 (see below) is a robot system for loading/unloadingarticles.

(Document 1) Japanese Laid-Open Patent Publication No. 7-237159

(Document 2) Japanese Laid-Open Patent Publication No. 2000-238906

(Document 3) Japanese Laid-Open Patent Publication No. 2000-127070

PROBLEMS TO BE SOLVED

Recently, research and development activities for non-industrial robotsand, specifically, for household robots, have been increasingly carriedout, using the robotics technology matured for industrial purposes aswidely known, toward a high goal of supporting the human life in harmonywith human beings in ordinary houses. For example, an entertainmentrobot which behaves like a pet to heal the hearts of people, a houseworksupport robot for, for example, automatically cleaning a room whilecircumventing obstacles detected by a sensor in the room, etc., havebeen practically developed and released into the market. Thesupplementary techniques, for example, a handling technique of flexiblygrabbing various articles and a sensing technique of perceive theconditions of a space in which a robot works, which are indispensablefor housework support, have also been intensely developed. Withadvancement of such technical developments, a robot which replaces ahuman being to do various houseworks will be realized in the future.

Considering our daily lives, we can say that we, living our lives in themodern world, are constrained by materials to work incessantly all thetime. For example, in a house, we spend much time for moving articles,i.e., picking up dust, carrying plates, storing away toys of kids,collecting and folding the laundry, etc. In addition, we frequently dothe tasks of receiving/shipping packs and mails from/to someone.

We sometimes forget the places where we left remote controllers of homeelectronic appliances, keys, mobile phones, watches, etc. In such cases,we have to search throughout the entire house for the missing articles.We sometimes forget the places where leisure goods for camping, or thelike, or wedding/funeral-related materials were stored many years ago,and cannot find them in time for the occasion.

If we have a system for supporting complicated works relating toarticles, article handling and article management, our life will be moreconvenient and more comfortable. Such a system is applicable tonon-household labors, for example, rearranging chairs and tables inrestaurants after service hours, cleaning and bedmaking in hotels,merchandise management in supermarkets and convenience stores, etc.

It should be noted that it is difficult to apply the above-mentionedindustrial techniques, as they are, to a life space in a house, or thelike, because articles to be handled are greatly different between awork site in a factory, warehouse, or the like, and a life space in ahouse, office, or the like.

The first reason is location of articles. In industrial uses, locationsof articles are arranged in a certain order, and the locations arelimited to particular places, for example, on a conveyer belt. In lifespaces, articles are placed in various locations, and the locationsoccur at random and frequently change. Now, consider an example ofeating utensils. They are stacked in a cupboard when not used, placed inthe kitchen during cooking, and placed on the table during dining. Afterdining, they are moved into the sink or put into a dishwasher. Afterwashed up, they are returned to the cupboard.

In industrial uses, the type and shape of articles to be handled arepredetermined and, therefore, unification of the shape, and the like,can be achieved relatively easily, whereas the articles to be handed inhouses and offices have a wide variety of types and shapes.

Thus, to effectively apply robots to a life space, a system for managingattribute information of each article in the life space, such as acurrent location, etc., on a realtime basis is necessary in addition toindispensable improvements in the robotics technology.

Even if without article handling by a robot, convenience in human lifeis greatly improved only by providing a user with information about thecurrent location of an article, and the like, using a system formanaging attribute information of each article in the life space on arealtime basis.

DISCLOSURE OF INVENTION

An objective of the present invention is to provide a system forsupporting tasks of managing and handling articles in a life space.

Specifically, the present invention provides an article handling system,comprising: a sensing unit for sensing the conditions of articles andmobile existences in a predetermined life space, the mobile existencesincluding a person(s); a server for managing, on an article database,attribute information of the articles in the life space according to theinformation from the sensing unit, the attribute information includingat least current locations of the articles; and a console unitcommunicable with the server for a user to instruct of a task, whereinthe server receives the user's instruction input through the consoleunit and refers to the article database to convert this instruction to acontrol command which commands a robot to execute a task on an article,the control command being transmitted to the robot.

According to the above invention, the conditions of articles and mobileexistences, including a person(s), in a predetermined life space in ahouse, or the like, are sensed by the sensing unit. The attributeinformation extracted from the information sensed by the sensing unit,including at least the current locations of the articles, are managed bythe server on the article database. The server receives a user'sinstruction input through the console unit and refers to the articledatabase to convert this instruction to a control command, which is thentransmitted to the robot. With this mechanism, the robot can workappropriately even in a complicated situation in the life space wherearticles exist at various locations and the locations change from momentto moment. As a result, the robot can successfully support handling ofarticles by a human being.

The present invention also provides an article management system,comprising: a sensing unit for sensing the conditions of articles andmobile existences in a predetermined life space, the mobile existencesincluding a person(s); a server for managing, on an article database,attribute information of the articles in the life space according to theinformation from the sensing unit, the attribute information includingat least current locations of the articles and a history of action(manipulation) by the mobile existences; and a console unit communicablewith the server for a user to put a query, wherein the server receivesthe user's query input through the console unit and refers to thearticle database according to this query to generate information whichis to be presented to the user, and transmits the generated informationto the console unit.

According to the above invention, the conditions of articles and mobileexistences, including a person(s), in a predetermined life space in ahouse, or the like, are sensed by the sensing unit. The attributeinformation extracted from the information sensed by the sensing unit,including at least the current locations of the articles and a historyof action by the mobile existences, are managed by the server on thearticle database. The server receives a user's query input through theconsole unit and refers to the article database according to this queryto generate information which is to be presented to the user, andtransmits the generated information to the console unit. With thismechanism, information is provided appropriately in consideration of thecurrent locations of the articles and the action history even in acomplicated situation in the life space where articles exist at variouslocations and the locations change from moment to moment. As a result,article management by a human being is appropriately supported.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 conceptually illustrates the present invention.

FIG. 2 is a block diagram showing an example of the entire structure ofan article handling system or article management system according toembodiment 1 of the present invention.

FIG. 3A, FIG. 3B and FIG. 3C illustrate the principle of a backgrounddifference method.

FIG. 4 is a block diagram showing an example of the structure of anarticle/mobile existence retrieval and management section.

FIG. 5 is an example of gate-type reader/writers installed at a door andwindow.

FIG. 6 shows a structure of an article database of an article/mobileexistence database and an example of information stored therein.

FIG. 7 shows a structure of a mobile existence database of thearticle/mobile existence database and an example of information storedtherein.

FIG. 8 shows a structure of a brought-away/brought-in database and anexample of information stored therein.

FIG. 9 illustrates an example of transfer of an article in anenvironment.

FIG. 10A, FIG. 10B and FIG. 10C illustrate examples of an environmentmap.

FIG. 11 shows a structure of an appliance database accompanying theenvironment map and an example of information stored therein.

FIG. 12 generally shows an example of the structure of a laborer robot.

FIG. 13 is a flowchart illustrating an operation of a controller of thelaborer robot.

FIG. 14 is an example of a console window displayed in a virtual spaceconsole mode.

FIG. 15A and FIG. 15B show a structure of a console window consisting ofimage data and window mask data.

FIG. 16A and FIG. 16B show the relationship between an actual worldcoordinate system and a virtual viewpoint coordinate system establishedin an environment.

FIG. 17 illustrates a procedure of designating on the console window thetask of transferring an article which is to be assigned to a robot.

FIG. 18 illustrates an alternative procedure of designating the task oftransferring an article on the console window, which is different fromthat illustrated in FIG. 17.

FIG. 19A and FIG. 19B show examples of the display form of an articleicon on the console window.

FIG. 20 is a block diagram illustrating an example of the entirestructure of an article transfer system of Embodiment 3.

FIG. 21 is a view illustrating an example of a console window displayedin the virtual space console mode.

FIG. 22 is a view illustrating an example of a console window displayedin the location icon console mode.

FIG. 23 is a view illustrating how the task of transferring an articleis designated to the robot in the console window in the location iconconsole mode.

FIG. 24 is a view illustrating the robot executing the designated taskin the environment.

FIG. 25 is a view illustrating an example of a console window displayedin the location icon console mode different from the example shown inFIG. 23.

FIG. 26 is a view illustrating an example of a console window displayedin the action icon console mode.

FIG. 27 is a view illustrating an example of an action/locationtranslation table.

FIG. 28 is an example of an action/location translation table includingsubdivided conditions.

FIG. 29 illustrates a configuration of an article management systemaccording to embodiment 4.

FIG. 30 is a block diagram schematically illustrating the basicstructure of an article/mobile existence retrieval and managementsection.

FIG. 31 is an explanatory diagram of a data configuration of anarticle/mobile existence database.

FIGS. 32A, 32B and 32C are explanatory views of the shape and posture ofan article. FIG. 32A shows the original shape of the article, FIG. 32Bshows the shape of a model of the article, and FIG. 32C shows the shapeof the model of the article placed in the real world.

FIG. 33 shows relationship between coordinates in the real world andarticle coordinates.

FIGS. 34A, 34B and 34C are explanatory views of environment maps. FIG.34A shows a real-life environment, FIG. 34B shows a cubic model of thereal-life environment of FIG. 34A, and FIG. 34C shows a planar model ofthe real-life environment of FIG. 34A.

FIG. 35 is an explanatory view of a data configuration of theenvironment map.

FIG. 36 is an oblique view of a laborer robot.

FIG. 37 is an explanatory view of an operation for placing a book on abookshelf.

FIGS. 38A, 38B and 38C are explanatory views of an operation, in which aplacement location is corrected, when other articles are already presentat the placement location. FIG. 38A is an oblique view of the placedarticles, FIG. 38B is a plan view of the articles before the placementlocation is corrected, and FIG. 38C is a plan view of the articles afterthe placement location is corrected.

FIG. 39 shows an example of a message form.

FIG. 40 shows an example of the format of an ACK/NACK message.

FIG. 41 is an explanatory diagram of a common message-processingconfiguration, which shows message exchange in each controller.

FIG. 42 is a flow chart of operation of a message handler in eachcontroller.

FIG. 43 is a diagram of a process configuration of the controller in aconsole terminal.

FIG. 44 illustrates a display showing an example in which an article ishandled using the console terminal.

FIG. 45 shows an example of a message generated in a handling messagegenerator in the console terminal.

FIG. 46 is a flow chart of operation of a message processor of thecontroller in the console terminal.

FIG. 47 shows an example of a message for sending one task unit to thelaborer robot.

FIG. 48 shows a process configuration of the controller of the laborerrobot.

FIG. 49 shows examples of messages to the laborer robot.

FIG. 50 is a flow chart of operation of a message processor of thecontroller in the laborer robot.

FIG. 51 is a flow chart of operation of a placement posturedetermination section in the laborer robot.

FIG. 52 is a flow chart of a specific operation of the placement posturedetermination section of the laborer robot.

FIG. 53 is a flow chart of operation of a placement locationdetermination section in the laborer robot.

FIG. 54 is a flow chart of a specific operation of the placementlocation determination section of the laborer robot.

FIG. 55 shows a process configuration of the controller in anenvironment management server.

FIG. 56 shows examples of messages to the environment management server.

FIG. 57 is a flow chart of operation of a message processor of thecontroller in the environment management server.

FIG. 58 is a block diagram of an article management system according toembodiment 5 of the present invention.

FIG. 59 is a diagram illustrating the data structure of mobile existencedata in the article/mobile existence database.

FIG. 60 illustrates the shape and posture of an article: FIG. 60A showsthe original shape of the article; FIG. 60B shows the shape of a modeledarticle; and FIG. 60C shows the shape of the modeled article placed inthe real world.

FIG. 61 is a perspective view of a grabbing element of a laborer robot.

FIG. 62 is a picture on a display showing an example of an instructioninput in which an article is handled on a console terminal.

FIG. 63 is a diagram showing an example of a message generated in ahandling message generator in the console terminal.

FIG. 64 is a diagram showing the process configuration of a controllerof a laborer robot.

FIG. 65 is a diagram showing an example of a message to the laborerrobot.

FIG. 66 is a flow chart showing the operation of a message processor inthe controller of the laborer robot.

FIG. 67 is a flow chart showing the operation of a grabbing positiondetermination section of the laborer robot.

FIG. 68 is a diagram illustrating a method for determining the availablespace of the placement location.

FIG. 69 illustrates the relation between contact surface and grabbingsurfaces.

FIG. 70 is a block diagram illustrating an example of the wholeconfiguration of an article handling system according to a sixthembodiment.

FIG. 71 is a table illustrating the structure of an article database andexemplary contents described therein.

FIG. 72 is a table illustrating an updated article database.

FIG. 73 is a diagram illustrating the state of the interior of theenvironment.

FIG. 74 is a diagram illustrating the state of the interior of theenvironment at a different time from that in FIG. 73.

FIG. 75 are diagrams illustrating the real conditions in the environmentand environment maps corresponding to the real conditions.

FIG. 76 is a diagram illustrating the structures of environmentattribute data and appliance attribute data and exemplary contentsdescribed therein.

FIG. 77 are diagrams illustrating the correspondence between theconditions of an appliance and the appliance attribute data.

FIG. 78 is a diagram illustrating an example of appliance operationcommands in the form of tables.

FIG. 79 is an illustration showing one example of the console window.

FIG. 80 is an illustration showing an image map corresponding to theconsol window shown in FIG. 79.

FIG. 81A and FIG. 81B are illustrations showing display examples ofarticles accommodated in appliances on the consol window.

FIG. 82 is a schematic view showing one example of the construction ofthe laborer robot.

FIG. 83 shows in the form of lists examples of robot control commandsfor operation of appliances.

FIG. 84 is a flowchart showing a procedure performed by a task plangenerator.

FIG. 85 is a list showing one example of a generated robot controlcommand row.

FIG. 86 is an illustration showing one example of an image that displaystask details.

BEST MODES FOR CARRYING OUT THE INVENTION

According to the first example of the present invention, there isprovided an article handling system, comprising: a sensing unit forsensing the conditions of articles and mobile existences in apredetermined life space, the mobile existences including a person(s); aserver for managing, on an article database, attribute information ofthe articles in the life space according to the information from thesensing unit, the attribute information including at least currentlocations of the articles; and a console unit communicable with theserver for a user to instruct of a task, wherein the server receives theuser's instruction input through the console unit and refers to thearticle database to convert this instruction to a control command whichcommands a robot to execute a task on an article, the control commandbeing transmitted to the robot.

According to the second example of the present invention, in the abovearticle handling system, the sensing unit includes at least one of acamera installed in the life space, a camera installed in the robot, anda tag sensor for receiving information transmitted from an electronictag.

According to the third example of the present invention, there isprovided an article management system, comprising: a sensing unit forsensing the conditions of articles and mobile existences in apredetermined life space, the mobile existences including a person(s); aserver for managing, on an article database, attribute information ofthe articles in the life space according to the information from thesensing unit, the attribute information including at least currentlocations of the articles and a history of action by the mobileexistences; and a console unit communicable with the server for a userto put a query, wherein the server receives the user's query inputthrough the console unit and refers to the article database according tothis query to generate information which is to be presented to the user,and transmits the generated information to the console unit.

According to the fourth example of the present invention, in the abovearticle management system, the article database has article history datafor each article which is indicative of an action history of thearticle; and the article history data includes, as to each actionexerted in the past, at least an operator, action detail, and thelocation of the article after the action.

According to the fifth example of the present invention, in the abovearticle management system, the sensing unit includes at least one of acamera installed in the life space and a tag sensor for receivinginformation transmitted from an electronic tag.

According to the sixth example of the present invention, there isprovided an article handling method, comprising the steps of: displayingan image which represents a predetermined life space on a displaysection of a console terminal; a user issuing through the consoleterminal an instruction to exert an action on an article included in theimage; a server referring to an article database which manages attributeinformation of an article in the life space to convert the user'sinstruction transmitted from the console terminal to a control commandexecutable for a robot, the attribute information including at least acurrent location of the article; and the server transmitting the controlcommand to the robot.

According to the seventh example of the present invention, there isprovided an article handling method, comprising the steps of: displayingan image which represents a predetermined life space on a displaysection of a console terminal; a user putting a query through theconsole terminal about an article included in the image; a serverreceiving the user's query transmitted from the console terminal andreferring to an article database which manages attribute information ofan article in the life space to generate information which is to bepresented to the user, the attribute information including at least acurrent location of the article and an action history; and the servertransmitting the generated information to the console terminal.

According to the eighth example of the present invention, there isprovided a server communicable with a sensing unit for sensing theconditions of articles and mobile existences including a person(s) in apredetermined life space and a console unit for a user to instruct of atask, wherein the server manages, on an article database, attributeinformation of the articles in the life space according to theinformation from the sensing unit, the attribute information includingat least current locations of the articles, and the server receives theuser's instruction input through the console unit and refers to thearticle database to convert this instruction to a control command whichcommands a robot to execute a task on an article, and transmits thecontrol command to the robot.

According to the ninth example of the present invention, there isprovided a server communicable with a sensing unit for sensing theconditions of articles and mobile existences including a person(s) in apredetermined life space and a console unit for a user to put a query,wherein the server manages, on an article database, attributeinformation of the articles in the life space according to theinformation from the sensing unit, the attribute information includingat least current locations of the articles and a history of action bythe mobile existences, and the server receives the user's query inputthrough the console unit and refers to the article database according tothis query to generate information which is to be presented to the user,and transmits the generated information to the console unit.

According to the tenth example the present invention, in the aboveserver, the article database has article history data for each articlewhich is indicative of an action history of the article; and the articlehistory data includes, as to each action exerted in the past, at leastan operator, action detail, and the location of the article after theaction.

First, the concept of the present invention is described.

FIG. 1 conceptually illustrates the present invention. In FIG. 1, it isassumed that an article handling system of the present invention isestablished in a house (predetermined life space). In the real space, alife support robot 5 is placed. It should be noted that the “life space”in this invention means a space where a human being performs activities,i.e., a space where a human being lives his/her life, which includes notonly a house of an ordinary household but also an office, hotel, store,hospital, and the like, but does not include an industrial space, suchas a factory, warehouse, or the like.

In FIG. 1, a sensing unit 1 is for sensing the conditions of articlesand mobile existences including human beings in a house. For example,the sensing unit 1 is formed by a camera installed on the ceiling, a tagsensor for receiving information transmitted from electronic tags, orthe like. An article management/operation server 2 receives informationfrom the sensing unit 1 to manage the conditions in the house on arealtime basis all the time. For this management, an article database 3which stores attribute information of articles in the house is used. Inthe example of FIG. 1, the action time, action detail, operator,location after operation for a wastebasket, mobile phone, beer, etc.,are managed as the attribute information.

A dweller in the house, i.e., a user, gives an instruction through aconsole unit 4. This instruction is realized through various interfacesof the console unit 4 by word input, voice input, on-screen input, orthe like. The server 2 receives a user's instruction input through theconsole unit 4 and refers to the article database 3 to convert thisinstruction to a control command which commands the robot 5 to carry outa task. The server 2 transmits the control command to the robot 5. Therobot 5 carries out the task assigned by the user according to thecontrol command.

For example, when a user gives an instruction to clean up a room througha mobile phone away from the house, the server 2 refers to the articledatabase 3 to grasp information about the current conditions inside thedesignated room, the location of a wastebasket, etc, and assigns aclean-up task to the robot 5. When a user in a living room of the housegives an instruction to bring back a bottle of beer, the server 2 refersto the article database 3 to grasp information about the currentconditions inside a refrigerator, etc, and instructs the robot 5 tobring back a bottle of beer.

Thus, the attribute information of articles are managed using thesensing unit 1 and the article database 3 on a realtime basis, wherebythe robot is instructed to work appropriately even in a complicatedsituation in the house. Therefore, users can live comfortable lives.

When receiving a query about a missing mobile phone, the server 2 mayrefer to the article database 3 to generate information about thecurrent location of the mobile phone and the last operator and presentthe generated information to the user. Therefore, the convenience oflife is greatly improved by using the system of FIG. 1 as an articlemanagement system to provide information to a user without exerting anaction on an article by a robot.

Hereinafter, embodiments of the present invention will be described withreference to the drawings.

(Embodiment 1)

FIG. 2 is a block diagram showing a system structure of an articlehandling system or article management system according to embodiment 1of the present invention. As shown in FIG. 2, roughly explaining, thesystem of FIG. 2 is formed by a sensing unit 120 for grasping theconditions inside an environment and three subsystems, an environmentmanagement server 101, a laborer robot 102, and a console terminal(console unit) 103. The subsystems 101 to 103 each has a transceiver 109for transmitting/receiving information, data, signals, etc., over awireless or wired network. The transceivers 109 performs a commonoperation and are therefore denoted by the same reference numeral inFIG. 2.

It is assumed herein that the “environment” means a room of a house.

The structure and operation of each subsystem are sequentiallydescribed.

<Structure of Environment Management Server>

The environment management server 101 includes an article/mobileexistence retrieval and management section 105, an article/mobileexistence database 106, an environment map management section 107, andan environment map 108. The article/mobile existence retrieval andmanagement section 105 manages the conditions of articles and mobileexistences (including persons and the robot 102) in the environmentamong the conditions grasped by the sensing unit 120. The article/mobileexistence database 106 stores data about the articles and mobileexistences. The environment map management section 107 manages theconditions of the entire environment excluding the articles and mobileexistences. The environment map 108 stores data about the entireenvironment. The transceiver 109 receives a query (signal) about thedata of the article/mobile existence database 106 and the data of theenvironment map 108 from the outside. The transceiver 109 transmits areply signal to the query to the outside. The transceiver 109 transmitsa control command to the robot 102. A controller 110 controls thearticle/mobile existence retrieval and management section 105, theenvironment map management section 107 and the transceiver 109.

The sensing unit 120 monitors all the time the location and conditionsof articles existing in the environment, such as furniture, and aperson(s) and the robot 102 existing in the environment. The sensingunit 120 can also detect that an article is brought into or out of theenvironment by a person or the robot 102. Specifically, the sensing unit120 is realized by a camera (image sensor) installed in the environment,a tag sensor, or the like, but the details thereof will be describedlater. When detecting an article or mobile existence, the sensing unit120 transmits the information about the detected article or existence tothe article/mobile existence retrieval and management section 105. Thetransmitted information includes, for example, the time of detection ofthe article, the location and posture of the article, etc.

The article/mobile existence retrieval and management section 105accumulates the information about articles and mobile existencesdetected by the sensing unit 120 in the article/mobile existencedatabase (DB) 106. The information managed in the article/mobileexistence DB 106 includes at least the current location of articles andmobile existences. The details of the article/mobile existence DB 106and a method for updating the article/mobile existence DB 106 will bedescribed later.

The article/mobile existence retrieval and management section 105conjectures what mobile existence (person/robot) is handling (e.g.,transferring) an article based on the information from the sensing unit120 and accumulates the conjecture result in the article/mobileexistence DB 106.

When a query is issued from the controller 110 to the article/mobileexistence DB 106, the article/mobile existence retrieval and managementsection 105 retrieves information necessary in view of the query fromthe article/mobile existence DB 106 and transmits the retrievedinformation to the controller 110.

The environment map management section 107 creates the environment map108 based on the information from the sensing unit 120 and manages thecreated environment map 108. The environment map 108 is used when therobot 102 travels in the environment. The robot 102 acquires theenvironment map 108 from the server 101 to make a travel route plan.

When a query is issued from the controller 110 to the environment map108, the environment map management section 107 retrieves informationnecessary in view of the query from the environment map 108 andtransmits the retrieved information to the controller 110.

The controller 110 is an element which controls the entire server 101,and the primary control operations thereof are as follows:

-   -   1) When the transceiver 109 receives a query about various data        in the server 101, the controller 110 analyzes the query and        issue a data reference request to the article/mobile existence        retrieval and management section 105 or the environment map        management section 107 according to the analysis result.    -   2) The controller 110 forwards a result transmitted from the        article/mobile existence retrieval and management section 105 or        the environment map management section 107 in response to the        request to the origin of the query through the transceiver 109.    -   3) The controller 110 interprets a robot task detail massage        transmitted from the console terminal 103 through the        transceiver 109 to generate a robot control command string for        commanding the robot 102 to carry out a task and transmits the        generated command string to the robot 102. The robot control        command string will be described later.    -   4) When necessary, the controller 110 periodically broadcasts        the conditions of part or all of articles managed in the        article/mobile existence DB 106 or the conditions of the        environment map 108 to the robot 102 or a user (console terminal        103) through the transceiver 109.

For example, the control operations 1) and 2) are carried out when auser searches for an article using the console terminal 103. In thiscase, as the query to the server 101, the search criterion may be givenin the form of a natural language sentence, “By whom and to where themoney placed on about time T on day D of month M was moved away?”.Alternatively, a search keyword for more specificity about the attributeof a wanted article, e.g., the date, handler, type of the article, etc.,may be entered.

In response to the above query, the environment management server 101searches the article/mobile existence DB 106 for the wanted article.Then, the environment management server 101 may order the consoleterminal 103 to generate a voice message, for example, “Mr. X moved itaway to place Y”, or present a map of the environment on which thecurrent location of the wanted article is shown.

When the article has been brought out of the environment, the server 101may output information about a carrier who brought it out of theenvironment. The carrier is a person, the server 101 may ask the carriervia telephone or e-mail about the current location of the article thathas been brought out. If the current location of the carrier is withinan environment managed by another environment management server, theserver 101 may directly ask the another environment management serverabout the current location of the article that has been brought out.

(Specific Examples of Sensing Unit)

The environment that the present system is intended to be installed inis a life space, such as a house of a household, or the like. Therefore,articles are placed in various locations, and the locations occur atrandom and frequently change. Further, mobile existences, such as aperson and robot, are not limited to any particular travel route butfreely travels in the environment. Thus, the present system requires asensing technique of precisely detecting the conditions of articles andmobile existences in the environment.

Image Sensor

One of the sensors best used for detection of articles is an imagesensor (camera). To efficiently monitor a relatively large area, e.g.,an entire room, with a small equipment, in general, an image sensor,i.e., a camera, is fixed on the ceiling or wall of the room, and cameraimages (captured images) taken by the camera are used to detect articlesin the room.

A generally employed method for detecting articles and mobile existencesin an environment using camera images is a background difference method.In the background difference method, a model image is prepared inadvance as a background, and differences between a current camera imageand the model image are examined to detect a target object. Since theobject of the present system is to detect and monitor articles andmobile existences in an environment, if variation in the conditions ofthe environment is small, an image taken when the articles and mobileexistences do not exist in the environment may be used as the modelimage. If variation in the conditions of the environment is prominent,an image obtained by averaging a plurality of images taken withpredetermined time intervals is used as the model image.

Article detection using the background difference method is specificallydescribed with reference to FIG. 3A, FIG. 3B and FIG. 3C. FIG. 3A showsan example of a model image. FIG. 3B shows an example of an image takenby a camera at a certain time. FIG. 3C shows an example of a backgrounddifference image which is obtained by subtracting the model image ofFIG. 3A from the camera image of FIG. 3B. As seen from FIG. 3C, thedifferences between the camera image and the model image (hatchedportions) are isolated in the background difference image. Therefore,only the isolated portions are extracted, whereby articles existing inthe environment are detected. Further, the type of the articles can bespecified through image processing of the background difference image.Thus, the conditions of articles and mobile existences in theenvironment can be detected using the background difference method.Furthermore, when two cameras are installed in the environment,information about the shape and posture of an article can be obtainedusing a stereoscopic three-dimensional measurement technique.

However, in general, article detection using an image sensor has variousproblems: for example, vulnerability to a brightness variation and lowdefinition. An article can be hidden by another article (problem ofblind spots). A plurality of articles overlapping each other can bedetected as a single article. For example, the problem of blind spotscan be dismissed by distributing a plurality of cameras in anenvironment generally uniformly such that an image of every articleexisting in the environment is capturable by any of the cameras.However, removal of the blind spots does not necessarily promise thesuccess of article detection. That is, the problems of low definitionand overlapping articles cannot be dismissed even when the number ofcameras is increased as much as possible. Therefore, the isolatedportions in the background difference image cannot be necessarilyidentified.

Use of Electronic Tags

In recent years, methods for locating articles and mobile existencesusing electronic tags have been developed and improved. The electronictag is a device formed by an IC for storing data and an antenna fortransmitting/receiving data by wireless. With the electronic tag, adevice called a reader/writer is used to read information written in theelectronic tag and write information in the electronic tag.

For example, an electronic tag is attached to each article, and dataabout the article, for example, the type, shape, weight, picture, andproduction date of the article, are buried in the electronic tag.Electronic tags may also be attached to mobile existences (persons androbot), and data about the mobile existences, for example, the name,date of birth, etc., are written in the electronic tags. In the case ofa person, an electronic tag may be buried in an accessory that he/shealways takes on (e.g., a watch). Meanwhile, a large number ofreader/writers are installed in the environment. The reader/writers readthe information buried in the electronic tags attached to articles andmobile existences to detect the articles and mobile existences in theenvironment without a camera.

Use of such an electronic tag system enables not only detecting thepresence of articles but also utilizing data of the articles which areburied in the electronic tags, although the camera system only enablesdetection of articles. The electronic tag system provides considerablemerits to users. For example, the robot 102 is enabled to readily graban article by utilizing the shape data of the article. Management of thequality guaranteed period is enabled by utilizing production date data.Use of data about the type of articles makes it easy to find a missingitem.

However, article detection using electronic tags has the disadvantage ofa short communication distance. That is, communications betweenelectronic tags and reader/writers have to be established using a veryweak radio wave which causes no adverse effect to human body. Therefore,the communication distance is as very short as about several tens ofcentimeters. To overcome the problem of short communication distance, alarge number of reader/writers can be installed in the environment, butthis is not realistic because a reader/writer is more expensive than acamera.

Combination of Image Sensors and Electronic Tags

As described above, the method using image sensors and the method usingelectronic tags have merits and demerits. Now, consider a method whichuses both image sensors and electronic tag. That is, a hybrid process iscarried out. Specifically, the locations of articles in the environmentare approximately specified using the above-described backgrounddifference method, and the articles are further specified usingelectronic tags.

Two specific example of the hybrid process are described below.

In the first example, cameras are installed on the ceiling and walls inan environment, and a reader/writer is incorporated in the robot 102.Meanwhile, an electronic tag is attached to each of articles and mobileexistences. First, the location of an article in the environment isspecified using camera images based on the background difference method.The robot 102 is moved to the vicinity of the location-specified articleto read information from an electronic tag attached to the article bythe reader/writer incorporated in the robot 102 and specifies thearticle based on the information.

In the second example, cameras are installed on the ceiling and walls inan environment, and a plurality of reader/writers are installedgenerally uniformly in the environment. Each of the reader/writers hasdirectivity for reading of data from electronic tags, and the readingdirection is variable. First, the location of an article in theenvironment is specified using camera images based on the backgrounddifference method. Then, a reader/writer closest to thelocation-specified article is selected, and the reading direction of thereader/writer is set toward the article. The reader/writer readsinformation from an electronic tag attached to the article to specifythe article based on the information. It should be noted that, in thisexample, the distance between a reader/writer and an electronic tag canbe long in some cases, and therefore, it is necessary to use arelatively strong radio wave. Thus, it is preferable to read informationfrom an electronic tag after confirming by, for example, the backgrounddifference method that no person exists in the environment.

It should be noted that sensing in the present system may be realized byanother method different from the above-described methods using imagesensors and/or electronic tags.

For example, a reader/writer is installed as the sensing unit 120 at agate between an environment and the outside, such as a door, window, orthe like. With this reader/writer, entry and exit of articles in and outof the environment can be detected. This example will be described laterin detail.

(Article/Mobile Existence Retrieval and Management Section)

FIG. 4 conceptually illustrates an internal structure of thearticle/mobile existence retrieval and management section 105. In FIG.4, an article handling detection section 31 detects that an article ishandled by a mobile existence (article-handled state), and a handlerspecifying section 32 specifies a mobile existence (handler) which ishandling an article according to a detection result of the articlehandling detection section 31.

The article handling detection section 31 detects an article-handledcondition based on information from the sensing unit 120. For example,in article detection using the above-described image sensors andbackground difference method, when a camera image and a model image arecompared to find a difference therebetween, the article handlingdetection section 31 detects that an article is handled at a locationcorresponding to the difference. As a matter of course, anarticle-handled state may be detected using, for example, an electronictag.

When the article handling detection section 31 detects anarticle-handled state, the handler specifying section 32 specifies ahandler who is handling an article and accumulates information of thehandler in the article/mobile existence DB 106.

The process of specifying (identifying) a handler is specificallycarried out as follows. In the case where a camera is used as thesensing unit 120, images of an area in which an article-handled state isdetected are captured by the camera Then, it is determined based on thecaptured images whether a mobile existence is a person or a robot, and aface authentication process is performed to specify the mobileexistence. The specified mobile existence is considered to be in thevicinity of the handled article, and therefore, the mobile existence isestimated to be a handler. In general, a wide-angle camera is used asthe sensing unit 120 for capturing images from a wide area. However, theresolution of images captured by the wide-angle camera is relatively lowand can be insufficient for the face authentication process. In such acase, a narrow-angle high resolution camera may be installed in theenvironment or incorporated in the robot 102 as a face authenticationcamera independently of the wide-angle camera. An images of the regionin which an article-handled state is detected by the article handlingdetection section 31 is captured by this narrow-angle camera, and theface authentication process is performed based on the captured image,whereby the handler is specified with high accuracy.

Specification of a handler is not limited to the face authenticationprocess but may be realized by other authentication processes, such asiris authentication, etc. Alternatively, camera images themselves may beaccumulated in the article/mobile existence DB 106 without theauthentication process. This may be limited to a case where a mobileexistence cannot be specified by the authentication process. Further,specification of a handler may be carried out using an electronic tag.

Further, entry and exist of articles in and out of an environment can bemanaged using electronic tags and a reader/writer.

Specifically, as shown in FIG. 5, gate-type reader/writers (RF antennas)41 and 42 are installed at the openings of a window 51 and door 52,respectively, which are the gates between an environment and theoutside. When an article or mobile existence passes through the window51 or door 52, the reader/writer 41 or 42 reads information from anelectronic tag attached to the article or mobile existence. The articlehandling detection section 31 detects entry or exist of an article basedon the information from the reader/writer 41 or 42. The handlerspecifying section 32 specifies a mobile existence which passes throughthe window 51 or door 52 together with the article as a handler andaccumulates information of the handler in the article/mobile existenceDB 106. Through such a process, a person who brings in and out anarticle can be managed automatically and easily.

In FIG. 5, the reader/writers 41 and 42 are installed to cover the foursides of the openings of the window 51 and door 52, respectively, forthe purpose of accurate detection without depending on the direction ofelectronic tags. However, the reader/writers 41 and 42 may be installedto cover only the upper and lower sides or only the left and right sidesof the window 51 and door 52 or may be installed at the center of thewindow 51 and door 52.

Management of articles at a specific location using the above-describedreader/writer is not limited to the window 51 and door 52 but isapplicable to other locations. For example, a reader/writer may beinstalled at the opening of a storage of articles, such as arefrigerator, shelf, or the like, in order to manage entry and exit ofarticles in and out of the storage.

Two sets of such reader/writers may be installed at the window 51 ordoor 52 for readily determining whether an article is brought in anenvironment or brought out of the environment. Specifically, althoughnot shown, the first reader/writer is installed on the outer surface ofthe opening of the window 51 or door 52, i.e., outside the environment,while the second reader/writer is installed on the inner surface of theopening of the window 51 or door 52, i.e., inside the environment. Withthis structure, when the second reader/writer installed inside theenvironment detects information from an electronic tag after the firstreader/writer installed outside the environment detects the informationfrom the electronic tag, it is determined that an article to which theelectronic tag is attached is brought in the environment from theoutside. On the contrary, when the first reader/writer installed outsidethe environment detects information from an electronic tag after thesecond reader/writer installed inside the environment detects theinformation from the electronic tag, it is determined that an article towhich the electronic tag is attached is brought out of the environmentto the outside.

It should be noted that, in the present system, a handler of an articleis not limited to a person. The robot 102 may handle an articleaccording to a task designated by a person through the console terminal103. In the case where the robot 102 handles an article, the robot 102may be recognized as a handler, but alternatively, a person who operatesthe robot 102 may be recognized as a handler. For example, when a personwho operates the robot 102 is recognized as a handler, a biometricauthentication process, such as fingerprint authentication, faceauthentication, voice print authentication, iris authentication, or thelike, may be performed on the operator of the robot 102 to specify theoperator (article hander) of the robot 102 based on the authenticationresult. Alternatively, in the case where user authentication is carriedout through a so-called LOGIN/LOGON procedure at the console terminal103 at the start of operation of the robot 102, its user information maybe used to specify the operator of the robot 102.

(Article/Mobile Existence DB)

The article/mobile existence DB 106 is a database for accumulatinginformation about articles and mobile existences and includes, forexample, an article database (DB) for storing information about articlesas shown in FIG. 6 and a mobile existence database (DB) for storinginformation about mobile existences as shown in FIG. 7.

The article DB of FIG. 6 includes three sub-databases for separatelyaccumulating article data, article history data, and article attributedata.

1) Article Data

Article data includes IDs for distinguishing articles, pointers toarticle history data, and pointers to article attribute data. In theexample of FIG. 6, different IDs are assigned to physically differentarticles even if they are of the same type, and these articles aretreated as different articles. However, articles of the same type havethe same physical attribute and therefore have the same pointer to thearticle attribute data, although they have different IDs. With thisstructure, the capacity of the database can be saved.

2) Article History Data

Article history data represents a history of handling of articles. InFIG. 6, the article history data consists of four particulars, the timeof handling, handling detail, handler, and the location after handling.In the example of FIG. 6, the location data is expressed by sixparameters, including three parameters (x1, y1, z1) for determining thelocation of an article (e.g., location of the center of gravity) andthree parameters (l1, m1, n1) for determining the direction of anarticle, although the location data can have various expressions. Thehandler is a mobile existence specified by the handler specifyingsection 32.

3) Article Attribute Data

Article attribute data represents physical attribute information that anarticle has and includes, for example, the weight, shape, and appearanceimage data of the article, etc., as shown in FIG. 6.

A history of handling of an article at a particular location may bemanaged in another sub-database. FIG. 8 shows an example of abrought-IN/OUT database for storing a history of bringing articles inand out through a door. The history data of FIG. 8 consists of fourparticulars: the time of handling, handled article, handling detail, andhandler. In FIG. 8, the indication of “article name @ Bag C” in thecolumn of “Article” means that the subject article contained in Bag Cpassed through the door. This is detectable by a reader/writerincorporated in the bag. Referring to the brought-IN/OUT database ofFIG. 8, it is seen that a father put Garment A, Towel C, and Umbrella Bin Bag C and brought them out of the room at time t2.

In the brought-IN/OUT database, the destination of the father carryingBag C and the purpose of his going out (e.g., business trip) may beregistered. With these registered information, necessary articles (e.g.,articles necessary for business trip) can be specified by referring tothe brought-IN/OUT database by designated destination and purpose.Further, it is also possible to instruct the robot 102 to execute thetask of putting the necessary articles in Bag C.

The mobile existence DB of FIG. 7 includes two sub-databases forseparately accumulating mobile existence data and mobile existencehistory data.

1) Mobile Existence Data

Mobile existence data includes IDs for distinguishing mobile existencesand pointers to the mobile existence history data. The mobile existencesstored in the mobile existence data may be registered manually by a userin advance.

2) Mobile Existence History Data

Mobile existence history data consists of three particulars: the time,the location of a mobile existence at the time, and the state of themobile existence at the time. The mobile existence has a large volumewhich occupies a large part of the space, as compared with articles, andis therefore likely to constitute an obstacle in the travel of the robot102. Thus, the location of the mobile existence is preferably expressedin consideration of real-life situations such that the robot 102 canavoid obstacles during traveling. In FIG. 7, to express the location ofa mobile existence by the minimum necessary information, an areaoccupied by the mobile existence on the floor is approximated by acircle, and the location of the mobile existence is expressed by thecoordinates of the center and the radius of the circle. As a matter ofcourse, the location of a mobile existence may be expressed morestrictly. For example, the contour of a region occupied by the mobileexistence on the floor may be approximated using a plurality of linesegment vectors.

When the mobile existence is a human being, the state of the mobileexistence is expressed by common actions of the human beings, e.g.,“sit”, “stand”, “lie”, “walk”, etc. When the mobile existence is therobot 102, the state of the mobile existence is expressed by actionsexerted by the robot 102 on an article, e.g., “grab”, “release”, etc.The state of the robot 102 is expressed not only by its action but alsotogether with the article ID of the subject article of the action in theform of “article ID: action”. Specifically, for example,“kan_small_(—)0001 Grab”. Specification of the state may be carried outas follows. For example, a plurality of candidate states for the mobileexistence are prepared in advance, and it is determined based on adetection result of the sensing unit 120, or the like, which candidatestate the state of the mobile existence falls within.

The article/mobile existence retrieval and management section 105 storesinformation about articles and mobile existences in the article/mobileexistence DB 106 and updates the information every time the location ofany article or mobile existence is changed. It should be noted that theupdate is not limited to this timing but may be carried out at anappropriate timing.

It should be noted that the article history data and mobile existencehistory data are preferably accumulated as for a long time as possible.With this, the history can be checked into the more distant past. Themobile existence history data are preferably accumulated with as shortintervals as possible. With this, the travel routes of mobileexistences, such as persons and robots, can be managed in more detail.However, since the capacity of the database is limited, data of apredetermined period are accumulated, and data older than thepredetermined period may be erased whenever necessary. When the state ofa mobile existence greatly changes, the interval of data accumulationmay be shortened; whereas when the state of a mobile existence does notchange much, the interval of data accumulation may be extended.

(Example of Updating Article/Mobile Existence DB)

Herein, the progress of an update of data in the article/mobileexistence DB 106 is specifically described with reference to FIG. 6,FIG. 7, and FIG. 8.

FIG. 9 shows a situation where two cans of juice (juice cans 21 and 22)have been brought in a certain room. In FIG. 9, transfers of the juicecans 21 and 22 are shown by arrows and are assumed to have occurred inthe order of time t1 to time t6. In the room of FIG. 9, a reader/writerfor electronic tags is installed as the sensing unit 120. Each of thejuice cans 21 and 22 and persons and the robot 102 who enter and exitthe room has an electronic tag attached thereto. The article attributedata of the juice cans 21 and 22 are read from the electronic tagsattached thereto.

It is assumed that, in the article/mobile existence DB 106, registrationof mobile existences in the mobile existence data and initialization ofthe mobile existence history data have already been performed. Thearticle data of the article/mobile existence DB 106 is empty datawherein nothing has been recorded.

First, a father (not shown), who is a mobile existence, comes into theroom with the juice can 21 in his hand. The sensing unit 120 detects thefather and the juice can 21, and the detection result is transmitted tothe article/mobile existence retrieval and management section 105. Thesection 105 allocates an ID, [kan_small_(—)0001], to the juice can 21and associates this ID with a pointer to the article attribute data tostore these information in the article data. The article attribute dataof the juice can 21 are stored together with the ID and pointer.Further, “location history list 1” is generated for storing a transferhistory of the juice can 21 (see FIG. 6). At this point in time,location history list 1 is still empty. Meanwhile, to update the mobileexistence history of the father, the location history corresponding toID “Father” in the mobile existence data is referred to, and “locationhistory list 3” is retrieved (see FIG. 7).

Then, at time t1, the father sits at position P4 (x4, y4) in thevicinity of a table and places the juice can 21 held in his hand atposition P1 (x1, y1, z1) on the table. This is detected by the sensingunit 120, and the article/mobile existence retrieval and managementsection 105 sets data of location history list 1 of the article historydata (see FIG. 6). Specifically, the following information are set:

-   -   Time: t1    -   Handling detail: new    -   Handler: father    -   Location after handling: P1 (x1, y1, z1, l1, m1, n1)        Herein, “new” of the handling detail means that an article which        had not been in the environment was newly brought in from the        outside. The article/mobile existence retrieval and management        section 105 sets data in location history list 3 of the mobile        existence history data (see FIG. 7). Specifically, the following        information are set:    -   Time: t1    -   Location: (x4, y4, r1)    -   State: sit

Then, at time t2, a son, who is another mobile existence (not shown),moves the juice can 21 placed at position P1 (x1, y1, z1) on the tableto position P2 (x2, y2, z2) on the floor. This is detected by thesensing unit 120, and the article/mobile existence retrieval andmanagement section 105 sets new data of location history list 1 of thearticle history data (see FIG. 6). Specifically, the followinginformation are set:

-   -   Time: t2    -   Handling detail: transfer    -   Handler: son    -   Location after handling: P2 (x2, y2, z2, l2, m2, n2)        Herein, handling detail “transfer” means that an article which        had already been registered in the article history data was        transferred. Since the location of the son changes at time t2,        the article/mobile existence retrieval and management section        105 sets data of the mobile existence history data of the son        (location history list 4) (not shown).

Then, at time t3, the father goes out of the room. This is detected bythe sensing unit 120, and the article/mobile existence retrieval andmanagement section 105 sets new data of location history list 3 of themobile existence history data (see FIG. 7). Specifically, the followinginformation are set:

-   -   Time: t3    -   Location:    -   State: Go out        Herein, the indication “-” of the location means that the        location is out of the coverage of the present system because        the father went out of the room.

When the father goes out of the room, he instructs the robot 102 toreturn the juice can 21, which have been transferred by the son, to theoriginal location on the table, i.e., position P1 (x1, y1, z1), throughthe console terminal 103 (this instruction to the robot 102 will bedescribed later). The instructed robot 102 travels to position P2 (x2,y2, z2) to grab the juice can 21 at time t4. The article/mobileexistence retrieval and management section 105 sets the data of mobileexistence history data of the robot 102 (location history list 5) (seeFIG. 7). Specifically, the following information are set:

-   -   Time: t4    -   Location: (x2, y2, r2)    -   State: [kan_small_(—)0001]: Grab        The operation of the robot 102 may be detected by the sensing        unit 120 or may be detected by the server 101 receiving the        operation information from the robot 102 via a network.

Then, at time t5, the robot 102, having the juice can 21 grabbed in itsholder, travels to position P4 (x4, y4) in the vicinity of the table andrelease the juice can 21 at position P1 (x1, y1, z1) on the table. Thearticle/mobile existence retrieval and management section 105 sets newdata of location history list 5 of the mobile existence history data(see FIG. 7). Specifically, the following information are set:

-   -   Time: t5    -   Location: (x4, y4, r2)    -   State: [kan_small_(—)0001]: Release        The article/mobile existence retrieval and management section        105 also sets new data of location history list 1 of the article        history data (see FIG. 6). Specifically, the following        information are set:    -   Time: t5    -   Handling detail: transfer    -   Handler: robot    -   Location after handling: P1 (x1, y1, z1, l1, m1, n1)

After a while, a mother, who is still another mobile existence, comes inthe room together with new juice can 22. The sensing unit 120 detectsthe mother and the new juice can 22, and the article/mobile existenceretrieval and management section 105 allocates an ID,[kan_small_(—)0002], to the new juice can 22 and associates this ID witha pointer to the article attribute data to store these information inthe article data. The article attribute data of the new juice can 22 arethe same as those of the juice can 21. Further, “location history list2” is generated for storing a transfer history of the new juice can 22(see FIG. 6). At this point in time, location history list 2 is stillempty.

Then, at time t6, the mother places the new juice can 22 at position P3(x3, y3, z3) on the floor. This is detected by the sensing unit 120, andthe article/mobile existence retrieval and management section 105 setsthe data of location history list 2 of the article history data (seeFIG. 6). Specifically, the following information are set:

-   -   Time: t6    -   Handling detail: new    -   Handler: mother    -   Location after handling: P3 (x3, y3, z3, l3, m3, n3)        It should be noted that, in FIG. 7, the mobile existence data        and mobile existence history of the mother are omitted.

(Environment Map and Appliance Database)

FIG. 10A, FIG. 10B and FIG. 10C shows examples of the environment map108. FIG. 10A shows an example of a real-life environment. FIG. 10Ashows an environment map obtained by simplifying the real-lifeenvironment of FIG. 10A by a cubic model. FIG. 10C shows an environmentmap obtained by further simplifying the map by a planer model.

The environment map 108 may be created in consideration of its purposeand time (efforts) required for creation. For example, when it isnecessary to create an environment map of a cubic model within a veryshort period of time, a cubic object existing in the environment ismodeled by the minimum rectangular parallelepiped which covers theobject as shown in FIG. 10B. In FIG. 10B, a table and a bookshelf areeach modeled by a rectangular parallelepiped, and a wastebasket ismodeled by a generally-circular cylinder. This procedure also applies toan environment map of a planer model. In FIG. 10C, the table and thebookshelf are each modeled by a rectangular region (hatched region)projected on a plane, and the wastebasket is modeled by a circularregion (hatched region). These two rectangular regions and circularregion are set as a region where the robot 102 cannot move in. A cubicmodel of a real-life environment as shown in FIG. 10A may be used as theenvironment map 108.

FIG. 11 shows an example of an appliance database accompanying theenvironment map, which corresponds to the environment shown in FIGS. 10Ato 10C. This appliance database includes two sub-databases in whichappliance data and appliance attribute data are accumulated.

1) Appliance Data

Appliance data includes IDs for specifying an environment itself andvarious appliances in this environment (the appliances are differentfrom articles in that they are fixed to or installed in the environmentand do not fall within the subjects of handling of a robot) and pointersto the appliance attribute data. In FIG. 11, an ID, “room_(—)0001”, isallocated to the environment (room), and IDs, “table_(—)0001”,“bookshelf_(—)0001”, and “trash_(—)0001”, are allocated to a table,bookshelf, and wastebasket, which exist in the environment.

2) Appliance Attribute Data

The appliance attribute data relating to the environment itself includesfloor face data in the environment. For example, if the environment hasa plurality of floor faces at different levels, a number of floor facedata pieces (floor face 1 and floor face 2 in FIG. 11) equal to thenumber of floor faces are accumulated. For example, the floor face datais expressed as follows:

((X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), (X4, Y4, Z4), 2200, 0).

Herein, the first four sets of coordinate values represent real-worldcoordinates at the corners of the floor face. The subsequent value(2200) represents the distance (mm) between the floor face and theceiling. The last value (0) means the type of floor face. For example,“0” means wood floor, “1” means tatami floor (Japanese traditional mat),and “2” means carpet.

The appliance attribute data relating to an appliances, such asfurniture, or the like, includes data of the faces which constitute theappliance (face 1, face 2) and the type of the appliance. If theappliance has a face on which articles are placeable, the applianceattribute data further includes the shape and posture of articles mainlyplaceable thereon. Specifically, data of a face which constitutes anappliance is expressed as follows:

((X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), 1, 400).

Herein, the three sets of coordinate values represent real-worldcoordinates at the corners of the floor face. The subsequent value (1)is a flag indicative of whether or not an article is placeable on theface. For example, “1” means that an article is placeable, and “0” meansunplaceable. The last value (400) indicates, if an article is placeableon the surface, the maximum allowable height (mm) of the placeablearticle. For example, when the face is the top plate of a table, thedistance between the top place and the ceiling is the maximum allowableheight. When the face is one of the shelf faces of a bookshelf, thedistance between the shelf face and an upper neighboring shelf is themaximum allowable height.

The “shape of mainly placed articles” in the appliance attribute datamean the shape of articles accommodated in the appliance. The type ofthe appliance is a bookshelf, it is the “shape of a book”. That is, arectangular parallelepiped where the depth and height are much greaterthan the width is the shape of a mainly placed article of the bookshelf.The “posture of mainly placed articles” mean the posture of articlesaccommodated in the appliance. When the type of an appliance is abookshelf, the “posture” means in what posture a book is placed on ashelf face of the bookshelf. In general, it is the upright posture ofthe book. With the data of the “shape and posture of mainly placedarticles” accumulated in the appliance attribute data, for example, whenthe task of transferring a book to a bookshelf is assigned to the robot102, the robot 102 places the designated book upright on a shelf of thebookshelf based on the data of the “shape and posture of mainly placedarticles”.

It should be noted that appliances of certain types do not have data ofthe “shape and posture of mainly placed articles”. For example, a tableand wastebasket are not limited to particular shape and posture ofarticles. Therefore, the appliance attribute data of the table andwastebasket do not have data of the “shape and posture of mainly placedarticles”.

<Structure of Laborer Robot>

The laborer robot 102 handles articles in an environment. Herein, it isassumed that the robot 102 carries out the task of transferring anarticle in an environment according to an instruction of a user.

As shown in FIG. 2, the robot 102 includes: an obstacle sensor 111 fordetecting obstacles around the robot 102; a grabbing element 112 forgrabbing an article; a travel plan generator 113 for generating a travelplan with reference to the environment map 108; and a travel device 114for moving the robot 102 itself. A transceiver 109 transmits/receivesvarious data to/from the environment management server 101 and theconsole terminal 103. A controller 115 controls the obstacle sensor 111,the transceiver 109, the grabbing element 112, the travel plan generator113 and the travel device 114.

FIG. 12 schematically shows an example of the structure of the robot102. The robot 102 has a generally box-like main body 10 foraccommodating the travel plan generator 113, the controller 115, etc.Hereinafter, the right side of the sheet of FIG. 12 is referred to asthe front side, the left side of the sheet is referred to as the rearside, the backward side of the sheet is referred to as the left side,and the frontward side of the sheet is referred to as the right side.

The grabbing element 112 is formed by a joint arm 12 a and a hand 12 bprovided at the end of the arm 12 a. The grabbing element 112 is fixedon the upper surface of the main body 10. The arm 12 a and the hand 12 bmay have a motor-controlled actuator or may have an actuator of othertype, for example, an artificial muscle actuator. In this system, thegrabbing element 112 has a reader/writer as the sensing unit 120 on theassumption that electronic tags are attached to articles existing in theenvironment. When an article is grabbed by the grabbing element 112, thereader/writer reads information written in its electronic tag, wherebyit becomes possible to specify the grabbed article. The reader/writerincorporated in the grabbing element 112 may be omitted.

The travel device 114 is formed by wheels 14, two of which are attachedon the right side of the main body 10, and the other two being attachedon the left side (in FIG. 12, the left side wheels are not shown). Thestructure of the travel device 114 may be optimally selected accordingto the environment in which the robot 102 is used. For example, in thecase where the floor of the environment has a greatly-irregular surface,the travel device 114 may be a crawler device or myriapod device.

In this example, the obstacle sensor 111 is formed by ultrasonic sensors11 a, a camera (visual sensor) 11 b, and collision sensors 11 c. Theultrasonic sensor 1 a emits an ultrasonic wave and measures the timethat has passed until reception of a reflection of the ultrasonic waveto calculate a general distance to an obstacle, thereby detectingobstacles in a nearby area to avoid collision. Each of the side faces(front face, rear face, and right and left faces) have three ultrasonicsensors 11 a. The camera 11 b captures the situations around the robot102 in the form of images (pictures). These images are subjected to arecognition process, and the like, to determine the presence/absence ofan obstacle or gain more correct information about an article which isto be grabbed. The camera 11 b is provided at the front part of the mainbody 10. The collision sensor 11 c detects certain impact applied to therobot 102. For example, collision of a moving obstacle with the robot102 or collision of the traveling robot 102 with an obstacle is detectedby the collision sensor 11 c. Each of the front face and rear face ofthe main body 10 has the collision sensor 11 c.

In this embodiment, the laborer robot 102 is an automotive robot whichhas the travel device 114 formed by the wheels 14, but the laborer robot102 is not limited to this structure. For example, the laborer robot 102may be built such that the grabbing element 112, which is formed by theabove-described arm 12 a and hand 12 b, is combined with a guide railfixed on the ceiling of the environment. In the laborer robot 102 havingthis structure, the grabbing element 112 moves along the guide rail to adesignated location, whereby the task of transferring a designatedarticle to the designated location in the environment is carried out.

The laborer robot 102 may be built such that a plurality of grabbingelements 112 (each consisting of an arm 12 a and a hand 12 b) are fixedat predetermined positions in the environment. In this case, thegrabbing elements 112 are distributed such that every article existingin the life space is grabbable by any of the grabbing elements 112. Inthe process of transferring a designated article to a designatedlocation, the laborer robot 102 having this structure selects one of thegrabbing elements 112 whose hand 12 b can reach the article. Theselected grabbing element 112 grabs the article and transfers thearticle to the designated location using its arm 12 a and hand 12 b. Ifthe arm 12 a of the selected grabbing element 112 does not reach thedesignated location, the article is handed among the plurality ofgrabbing elements 112 to reach the designated location.

When a transfer task of an article or a transfer which accompanies othertask is designated, the travel plan generator 113 generates a travelplan of the robot 102 from the current location to a destination withreference to the environment map 108. As shown in FIG. 10C, unpassableregions (hatched regions) are set in the environment map 108. Therefore,when a travel route is generated within an area excluding the unpassableregions, the generated travel route can avoid obstacles. For example, inFIG. 10C, in the case of a travel from point A1 to point A2, a routeavoiding the unpassable regions (shown by an arrow) is generated inconsideration of the size of the robot 102. The generation of a travelroute may use the most popular Dijkstra method. When the environment iscomplicated, a route search algorithm improved from the Dijkstra methodmay be used. A mode where a user designates the travel route of therobot 102 may be provided as a countermeasure to the case where anexcessively-complicated environment disables calculation of the travelroute or causes consumption of a considerable time for the calculation.

(Control Command of Robot)

The controller 115 interprets a robot control command string mainlytransmitted from the environment management server 101 through thetransceiver 109 and sequentially executes the control commands.

The robot control command is a command for controlling the grabbing ofan article or the traveling of the robot 102 itself. The robot controlcommand generally includes three commands, “move”, “grab”, and“release”. These three commands are described below in brief.

1) Move: (move, coordinates) or (move, appliance ID)

The “Move” command is a command for moving the robot 102 from thecurrent location to a location designated by coordinates or to alocation of an appliance designated by an application ID. Thecoordinates are designated based on the world coordinate system. Atravel route from the current location to the destination is planned bythe travel plan generator 113. In the case of traveling to the locationof an appliance designated by an application ID, a route away from theappliance by a predetermined distance is generated. In this case, theappliance attribute data in the environment map is used.

2) Grab: (grab, article ID)

The “Grab” command is a command for grabbing an article designated bythe article ID using the hand 12 b. The article is located by referringto the article DB, and the grabbing plan is generated by the grabbingelement 112.

3) Release: (release)

The “Release” command is a command for releasing an article from thehand 12 b.

For example, when the task of transferring a certain article to acertain location is assigned by the user, the task is divided into fourtask units: “transfer (of the article to location B1)”, “grab (of thearticle)”, “travel (to location B2)”, and “release (of the article)”. Inthis case, the robot control command string is:

move, B1 (moving the robot to location B1 at which an article exists);

grab, article ID (grabbing the article existing at location B1);

move, B2 (traveling to location B2 (with the article grabbed)); and

release (releasing the grabbed article).

When a transfer of a plurality of articles is assigned, a set of theabove four commands is duplicated by the number of articles, and thecontroller 115 executes the control commands sequentially for all thearticles.

As a matter of course, the robot control command is not limited to theabove three types of commands but may further include other types ofcommands when necessary.

FIG. 13 is a flowchart illustrating an example of the operation of thecontroller 115. When the transceiver 109 receives a control commandstring transmitted from the environment management server 101, thecontroller 115 determines what task unit it is (S2401 to S2403) andexecutes a process based on the determined task unit.

If the task unit is “travel” (YES at S2401), the route to a designatedlocation is generated by the travel plan generator 113 (S2404). A movecontrol command issued according to the route generated by the travelplan generator 113 is transmitted to the travel device 114. Based on themove control command, the travel device 114 executes the process oftraveling to the designated location (S2405).

If the task unit is “grab” (YES at S2402), the posture of an article tobe grabbed is detected by the obstacle sensor 111 (S2406), and theoperation of the arm 12 a and hand 12 b is calculated according to thedetection result (S2407). Then, a grab control command is transmitted tothe grabbing element 112. Based on the grab control command, thegrabbing element 112 executes the process of grabbing the article(S2408). It should be noted that since the posture of the article isrecorded in the article/mobile existence database 106 of the environmentmanagement server 101, a query about the posture of the article may beissued to the server 101.

If the task unit is “release” (YES at S2403), the operation of the arm12 a and hand 12 b is calculated such that the article is placed at thedesignated destination (S2409). Then, a release control command istransmitted to the grabbing element 112. Based on the release controlcommand, the grabbing element 112 executes the process of releasing thearticle (S2410).

When the operations of the move, grasp, and release commands arecompleted, a message of completion is transmitted to the server 101which is the task assigner (S2411). In this way, the task assignedthrough the console terminal 103 is executed by the robot 102.

<Structure of Console Terminal>

The console terminal 103 is a user interface of this system, which isused for instructing the robot 102 to execute the task of handling anarticle or issuing a query about an article.

As shown in FIG. 2, the console terminal 103 includes: a display section117 formed by, for example, a CRT or liquid crystal display, fordisplaying a console window; an input section 116 formed by, forexample, a pointing device, for instructing the robot 102 on the task onthe console window; and a display controller 118 for controllingdisplay-related operations, for example, generation of a console windowto be displayed on the display section 117. The transceiver 109transmits the task or query details of the robot 102, which have beeninput to the input section 116, to the server 101 and receives a replyto the query from the server 101. A controller 119 controls thetransceiver 109, the input section 116, the display section 117 and thedisplay controller 118.

For example, a general-purpose PC may be used as the console terminal103. In this case, a control program for executing the processes isinstalled in the PC, whereby the PC can be used as the console terminal103.

The display controller 118 generates a console window based oninformation obtained from the server 101, specifically, data of imagesof the environment captured by a camera as the sensing unit 120, dataaccumulated in the article/mobile existence database 106, and theenvironment map 108. The generated console window is displayed on thedisplay section 117.

(Console Mode)

The present system includes several console modes for a user designatinga task allocated to a robot. The console modes are switched by the userusing the input section 116. Herein, the “virtual space console mode” isdescribed as an example of the console mode.

FIG. 14 shows an example of the console window displayed on the displaysection 117 of the console terminal 103 in the virtual space consolemode. This console window is formed by a virtual space which simulates areal-life environment. This virtual space is created based on image dataobtained by a camera(s) (not shown) installed in the environment.

The console window of FIG. 14 has a cursor (pointer) and article iconsplaced in the virtual space such that the article icons correspond toarticle existing in the environment. Specifically, the console windowincludes icons of an empty can (kan_small_(—)0001), lemon(lemon_small_(—)0001), a notebook (note_small_(—)0001), banana(banana_small_(—)0001), and paper trash (trash_small_(—)0001). In thevirtual space console mode, article icons on the console window aregenerated only for articles handleable by the robot 102 but notgenerated for appliances unhandleable by the robot 102, such asfurniture, and the like, although the appliances are shown on theconsole window.

In this console window, the user moves the cursor on the console windowusing the input section 116 of the console terminal 103 to designate atask assigned to the robot 102. To instruct the robot 102 to transfer anarticle, the user designate a desired article icon and a desiredlocation in the virtual space. This console window is configured suchthat the article icons are movable in the virtual space by “dragging”.In this console window, a desired article icon in the virtual space isdesignated by the cursor, and the designated article icon isdrag-and-dropped onto a desired destination in the virtual space,whereby the article and the destination of the article are designated.

Arrows in FIG. 14 illustrate the drag-and-drop operations for transferof empty can icon (kan_small_(—)0001) to a recycle wastebasket 531,transfer of lemon icon (lemon_small_(—)0001), notebook icon(note_small_(—)0001) and banana icon (banana_small_(—)0001) to a table551, and transfer of paper trash icon (trash_small_(—)0001) to a generaltrash wastebasket 541.

The virtual space-included in the console window of this example isimage data obtained by the camera, and therefore, it is necessary tospecify which region of the image data corresponds to an article icon.To this end, the console window has, in addition to the image data whichconstitutes the virtual space, window mask data which correspond to theimage data on a one-to-one basis and specify the location of an articleicon in the virtual space.

In the window mask data, mask data is set to be corresponding to aregion on the console window where an article icon is placed. When thelocation (coordinate values) of an article icon is designated by thecursor on the console window, the same coordinate values are referred toin the window mask data, whereby it is determined whether or not thedesignated region is an article (article icon). Further, a pointer toarticle data of the article database (see FIG. 6) is described in thecoordinate data of the mask data in the window mask data. When anarticle icon is designated, the article data is referred to using thepointer described in the coordinate data as a key, whereby it isspecified which article is indicated by an article icon selected by thecursor on the console window. This window mask data can be generated bya background difference image because the location of an article in animage captured by a camera is specified in the background differenceimage.

When a transfer task of the article is designated by drag-and-droppingan article icon on the console window, a message of this task istransmitted from the console terminal 103 to the environment managementserver 101. This message may include at least the information that thetask is a transfer of an article, the information about an article to betransferred, and the coordinates of the transfer destination.

When receiving the message, the server 101 refers to the articledatabase to generate a robot control command string according to themessage, and transmits the generated robot control command string to therobot 102. The controller 115 of the robot 102 executes a controlcommand according to the flowchart of FIG. 13. As a result, this laborerrobot 102 executes the task of transferring the article designated onthe console window to the location designated in the virtual space.

As described above, in the virtual space console mode, the consolewindow displayed on the display section 117 of the console terminal 103is formed by a virtual space which simulates a real-life environment.The transfer task of an article can be designated by an intuitiveoperation, i.e., drag-and-dropping an article icon in the virtual spaceonto a desired destination in the virtual space. Therefore, a user candesignate a task assigned to a robot very easily. As a matter of course,the operation mode is not limited to the virtual space console modedescribed in this section.

In this embodiment, a console terminal shows an image which represents apredetermined life space on a display section. A user uses the consoleterminal to designate an action exerted on an article included in theimage. Receiving the user's designation from the console terminal, aserver refers to an article database to convert the designation to arobot-executable control command and transmits the control command to arobot. With such an article handling method, a user can readily instructa life-support robot to work appropriately in a complicated situation inthe life space.

In this embodiment, a console terminal shows an image which represents apredetermined life space on a display section. A user uses the consoleterminal to issue a query about an article included in the image.Receiving the user's query from the console terminal, a server refers toan article database to generate information which is to be presented tothe user and transmits the generated information to the controlterminal. With such an article management method, a user can readilyacquire correct information about an article in a complicated situationin the life space.

Effects of the Invention

As described above, according to the present invention, it is possibleto instruct a life-support robot to work appropriately in a complicatedsituation in a life space where articles exist at various locations andthe locations change from moment to moment. Further, it is possible toprovide a user with precise information about articles. As a result, itis possible to support handling of articles and article management by ahuman being.

(Embodiment 2)

Herein, an objective of the present invention is to provide anon-industrial article handling system for instructing a robot to handlean article in a life space in which people live their lives, such as ahouse of an ordinary household, office, hotel, store, hospital, or thelike, wherein appropriate presentation of the conditions of a life spaceto a user and easy designation of a task assigned to a robot areenabled.

An article handling system of the present invention includes a robot forhandling an article existing in a predetermined life space and a consoleunit which has a display section for displaying a console window and aninput section which serves as an interface for a user. The displaysection displays a console window which includes a virtual spacesimulating the actual conditions of the life space. The user uses theinput section to designate a task assigned to a robot in the virtualspace. The robot handles an article in the life space based on thedesignated task.

According to the above structure, a console window is displayed on thedisplay section of the console unit. The console window displayed on thedisplay section includes a virtual space which simulates the actualconditions of the life space. Herein, simulation of the virtual space tothe actual condition of the life space means that the conditions of thevirtual space and the actual condition of the life space correspond toeach other. The user uses the input section to designate a task assignedto a robot in the virtual life space of the console window. After thetask has been thus assigned, the robot handles an article in the lifespace based on the task.

Thus, according to the present invention, a console window includes avirtual space which simulates the actual conditions of a life space.Therefore, although the actual conditions of the life space, such as anordinary house, or the like, are more complicated than those of afactory or warehouse, the complicated conditions are displayed in theform of a console window as they are. For example, although arrangementof articles is random in a life space, articles are placed in thevirtual space according to the random arrangement of the articles in thelife space. In this way, the complicated conditions of the life spaceare presented to users in an appropriate and clear fashion.

Further, according to the present invention, the task assigned to therobot is designated in the virtual space. With this feature, the taskfor the robot in the life space under the complicated conditions can bereadily designated.

In the first example of this embodiment, there is provided an articlehandling system, comprising: a robot for handling an article existing ina predetermined life space; and a console unit which has a displaysection for displaying a console window and an input section whichserves as an interface for a user, wherein a console window whichincludes a virtual space simulating the actual conditions of the lifespace is displayed on the display section; the user uses the inputsection to designate a task assigned to the robot in the virtual space;the robot handles an article in the life space based on the designatedtask.

According to the second example, in the first example, the task carriedout by the robot is a transfer of an article in the life space.

According to the third example, in the second example, the consolewindow has an article icon placed in the virtual space such that thearticle icon corresponds to an article existing in the life space, andthe transfer of the article is designated by manipulating the articleicon.

According to the fourth example, in the third example, the transfer ofthe article is designated by drag-and-dropping a desired article icononto a desired transfer destination in the virtual space.

According to the fifth example, the article handling system of the firstexample further comprises an image capturer for capturing images of thelife space, wherein the virtual space of the console window isconstructed from data of the images captured by the image capturer.

According to the sixth example, in the fifth example, the console windowincludes image data which constitute a virtual space, an article iconplaced in the virtual space such that the article icon corresponds to anarticle existing in the life space, and window mask data which includescoordinate values corresponding to the image data and specifies thelocation of an article icon in the virtual space.

According to the seventh example, in the sixth example, the articlehandling system further includes a sensing unit for detecting thelocation of an article in the life space, wherein the window mask datais generated based on the location of the article which is detected bythe sensing unit.

According to the eighth example, in the first example, the consolewindow includes an article icon placed in the virtual space such thatthe article icon corresponds to an article existing in the life spaceand a pointer, and when the pointer points at an article iconcorresponding to an article handleable by the robot on the consolewindow, the article icon is highlighted.

According to the ninth example, in the first example, the console windowincludes an article icon placed in the virtual space such that thearticle icon corresponds to an article existing in the life space and apointer, and when the pointer points at an article icon corresponding toan article handleable by the robot on the console window, informationabout the article is displayed.

According to the tenth example, in the first example, the console windowincludes an article icon placed in the virtual space such that thearticle icon corresponds to an article existing in the life space and apointer, and when an article is selected as a task subject of the robotby designating a corresponding article icon on the console window, thearticle icon is highlighted.

According to the eleventh example, in the first example, a viewpoint ofthe virtual space included in the console window is switchable.

According to the twelfth example, there is provided a robot controllerunit for designating a task which is assigned to a robot for handling anarticle existing in a predetermined life space, comprising: a displaysection for displaying a console window; and an input section whichserves as an interface for a user, wherein the display section displaysa console window which includes a virtual space simulating the actualconditions of the life space; and the user uses the input section todesignate a task assigned to the robot in the virtual space.

According to the thirteenth example, there is provided an articlehandling method which uses a robot for transferring an article existingin a predetermined life space, comprising the steps of: displaying aconsole window which includes a virtual space simulating the actualconditions of the life space and an article icon placed in the virtualspace such that the article icon corresponds to an article existing inthe life space; designating a desired article icon on the consolewindow; drag-and-dropping the designated article icon onto a desiredtransfer destination in the virtual space; and transferring by the robotan article corresponding to the designated article icon to a locationcorresponding to the transfer destination designated in the virtualspace.

According to the fourteenth example, the method of the thirteenthexample further comprises switching the viewpoint of the virtual spaceincluded in the console window.

Embodiment 2 of the present invention relates to an article handlingsystem which instructs a laborer robot to handle an article existing ina life space. In this embodiment, a room in a building, e.g., a room ofan ordinary house, is considered as a subject space for the articlehandling system (hereinafter, referred to as “environment”). In thisembodiment, the laborer robot transfers an article designated by a userto a designated position, although the handling of an article by thelaborer robot can include various tasks.

The structure of the system of this embodiment is the same as that shownin FIG. 2 described in embodiment 1. The components common amongembodiment 2 and embodiment 1 are not described herein in detail.

First, a console window generated by the display controller 118 anddisplayed on the display section 117 is described. FIG. 15A and FIG. 15Bshow an example of the console window. This console window is formed bya virtual space which simulates actual conditions of the environment.

The virtual space has a plurality of different viewpoints. In thisembodiment, the virtual space has two viewpoints: the viewpoint forlooking at the virtual space in a generally horizontal direction asshown in FIG. 15A; and the viewpoint for looking down the virtual spaceas shown in FIG. 15B. The viewpoints of the virtual space included inthe console window are switched by a user through the console terminal103.

The virtual space included in the console window is generated based onimage data captured by a camera (not shown) installed in theenvironment. The plurality of virtual space viewpoints based on thecamera images are realized by, for example, the following methods.

The first method is constructing a virtual space based on image datacaptured by a plurality of cameras installed in the environment. Forexample, cameras are installed on a side wall and ceiling of theenvironment (room). The virtual space of the viewpoint of FIG. 15A isconstructed based on image data captured by the camera installed on theside wall, while the virtual space of the viewpoint of FIG. 15B isconstructed based on image data captured by the camera installed on theceiling.

At least one camera is installed at an appropriate location in theenvironment, and camera images captured by the at least one camera aretransformed and synthesized to create an image (virtual space) viewedfrom an arbitrary viewpoint. Such a method of creating an image viewedfrom an arbitrary virtual viewpoint based on camera images is disclosedin the gazette of Japanese Patent No. 3286306 and, therefore, the detaildescriptions thereof are herein omitted.

In this embodiment, it is assumed that the virtual space of theviewpoint of FIG. 15A is constructed based on image data captured by thecamera (sensing unit 120) installed on the side wall in the environment(hereinafter, also referred to as “camera viewpoint image”), while thevirtual space of the viewpoint of FIG. 15B is constructed based on imagedata obtained by transforming and synthesizing image data captured bythe camera (hereinafter, also referred to as “virtual viewpoint image”).That is, the number of viewpoints that a virtual space included in theconsole window has does not necessarily need to be equal to the numberof camera viewpoints for capturing image data based on which the virtualspace is constructed.

The console window has a cursor (pointer) and an article icon placed inthe virtual space such that the article icon corresponds to an articleexisting in the environment (in the example of FIG. 15A and FIG. 15B,banana is an article icon). The article icon may be presented in anyform perceivable as an article by a user. For example, the icon may bein the form of an animation image (pictorial image) of an article or maybe in the form of a camera picture of an article which is automaticallyor manually cut out of a camera image that includes the article.

A user controls the cursor in the console window through the inputsection 116 of the console terminal 103 to handle icons, therebydesignating a task assigned to the robot. In this embodiment, thearticle icon is constructed to be movable in the virtual space includedin the console window by dragging, although the procedure fordesignating the task on the console window will be described later. Toinstruct the robot 102 to transfer an article, a desired article icon inthe virtual space is designated by the cursor, and a desired transferdestination in the virtual space is designated by the cursor, wherebythe transfer task is designated. It should be noted that appliancesexisting in the environment, such as furniture, and the like, are not inthe form of article icons, although they are shown on the consolewindow. Only the articles handleable by the robot 102 are shown in theform of article icons on the console window.

The virtual space included in the console window is, as described above,image data captured by a camera(s) or image data obtained bytransforming and synthesizing the image data captured by the camera(s),and therefore, it is necessary to specify which part of the image datacorresponds to article icons. To this end, the console window includeswindow mask data for specifying the location of an article icon in thevirtual space in addition to the image data which constitutes thevirtual space (and the transformed and synthesized image data). Thewindow mask data corresponds to the image data (virtual space) on aone-to-one basis. Herein, the phrase “corresponds . . . on a one-to-onebasis” means that coordinate values correspond between these data.

FIG. 15A and FIG. 15B show an example of the window mask data whichcorresponds to image data included in the virtual space (console window)on a one-to-one basis. In this window mask data, mask data (see shadedpart of FIG. 15A and FIG. 15B) corresponding to a region in which anarticle icon is placed on the console window is set, and a pointer toarticle data of the article database (see FIG. 6) is described in thecoordinate data of this mask data. This pointer corresponds to anarticle associated with the article icon and makes it possible todetermine which article is indicated by each article icon included inthe console window.

When the location of an article icon (coordinate values) is designatedby the cursor on the console window including the virtual space, thesame coordinate values are referred to in the window mask data, wherebyit is determined whether or not the designated region is an article(article icon) or not. When the location of the article icon isdesignated, the article data is referred to using the pointer describedin the coordinate data as a key. whereby it is specified which articleis designated by an article icon indicated by the cursor on the consolewindow.

In the case where a virtual space of the console window is constructedby an image captured by a camera (sensing unit 120) as shown in FIG.15A, image mask data corresponding to the virtual space on a one-to-onebasis can be generated by the background difference method because thelocation of an article in the image captured by the camera is specifiedin this background difference method.

In the case where a virtual space of the console window is constructedby an image obtained by transforming and synthesizing camera images,i.e., virtual viewpoint image (see FIG. 15B), window mask datacorresponding to the virtual space on a one-to-one basis may begenerated as described below.

FIG. 16A and FIG. 16B illustrate generation of window mask data of aconsole window which is constructed based on a virtual viewpoint image.In FIG. 16B, the coordinate system defined by X-, Y- and Z-axes, whereOw is the origin, is a real world coordinate system. In this coordinatesystem, the location of a virtual viewpoint (corresponding to theceiling of the environment) is expressed by (x1, y1, z1). Meanwhile, avirtual viewpoint coordinate system, where virtual viewpoint Oe, is theorigin is provided. The coordinate values (x, y, z) shown in FIG. 16Aare coordinate values at an arbitrary point in the real world coordinatesystem in a region including an article detected by the sensing unit120. The coordinate values (u, v) shown in FIG. 15B are coordinatevalues obtained by converting the coordinate values (x, y, z) onto theconsole window formed by a virtual viewpoint image. The conversion isrealized by the following expressions (1), (2) and (3):

$\begin{matrix}{\begin{pmatrix}x_{e} \\y_{e} \\z_{e}\end{pmatrix} = {R^{T}\left( {\begin{pmatrix}x \\y \\z\end{pmatrix} - \begin{pmatrix}x_{n} \\y_{n} \\z_{n}\end{pmatrix}} \right)}} & (1) \\{u = {\frac{f}{z_{e}}x_{e}}} & (2) \\{v = {\frac{f}{z_{e}}y_{e}}} & (3)\end{matrix}$In expression (1), R is a rotation matrix around three axes which definethe virtual viewpoint coordinate system. The values of the rotationmatrix are set such that the coordinate values of this matrix areconverted to coordinate values of the real world coordinate system bymultiplying the matrix by the coordinate values in the virtual viewpointcoordinate system. In expressions (2) and (3), f is the focal length ofthe virtual viewpoint.

Explaining generation of window mask data of a console window formed bya virtual viewpoint image by a specific process, a region occupied by anarticle obtained by the sensing unit 120 is converted to a regionoccupied by the article when seen from a virtual viewpoint, and theregion is converted to coordinate values on the console window, theresultant coordinate values being treated as mask data. This means thatthe calculations of:

-   1) converting point (x, y, z) of an article region expressed by the    coordinate values of the real world coordinate system to coordinate    values (xe, ye, ze) in a virtual viewpoint coordinate system by    expression (1); and-   2) converting coordinate values (xe, ye, ze) to coordinate values    (u, v) on the console window of the virtual viewpoint image by    expressions (2) and (3),    are carried out on every point of the article region expressed by    coordinate values of the real world coordinate system.

To generate more correct mask data, the coordinate values of (u, v)obtained through calculation 2) are plotted, and the minimum polygonalregion enclosing the plotted values may be used as the mask data,although the window mask data of the console window based on the virtualviewpoint image can be generated by the above conversions.

It should be noted that, although a console window is generated by thedisplay controller 118 of the console terminal 103 in this embodiment, aconsole window may be generated by the environment management server101. In this case, a console window generated by the server 101 may betransmitted to the console terminal 103 via a network and displayed onthe display section 117 of the console terminal 103. In the case whereswitching of the viewpoint of the virtual space is instructed throughthe input section 116, a viewpoint switching request signal may betransmitted from the console terminal 103 to the environment managementserver 101. The environment management server 101 may generate a consolewindow based on the switched viewpoint according to the viewpointswitching request signal, the resultant console window being transmittedto the console terminal 103.

Procedure of Designating Task for Robot

Next, the procedure of designating a transfer of an article, which isassigned to the robot 102, on a console window displayed on the displaysection 117 of the console terminal 103 is specifically described withtwo examples.

First, the designation procedure for a transfer by the robot 102 isdescribed with an example where a banana placed at location B1 on thefloor of a room is transferred to location B2 in front of the table withreference to FIG. 17.

The designation of the transfer task is realized by drag-and-dropping anicon on the console window: specifically, selecting a banana (articleicon), moving (dragging) the selected banana onto a desired transferdestination in the virtual space, and dropping the banana icon at thetransfer destination.

(Step of Displaying Console Window: P1001)

A console window is displayed on the display section 117 of the consoleterminal 103. Herein, a virtual space of the console window is formedbased on a camera viewpoint image captured by a camera. Since thisvirtual space simulates actual conditions of a room, appliances existingin the room (table, etc.) are displayed on the console window. Articlesexisting in the room (banana, etc.) are placed as article icons in thevirtual space.

A user can move the cursor on the console window using the input section116 of the console terminal 103. When the cursor points at an articleicon, the article icon is highlighted. Specifically, when the cursorpoints at a banana icon, the color of the banana icon is changed, forexample. Alternatively, the outline of the banana icon is emphasized asshown in FIG. 19A, or an pop-up indication of the name of an articlecorresponding to an article icon, “Banana” in this example, is displayedas shown in FIG. 19B. However, if the cursor points at an appliance,such as a table, or the like, the appliance is not highlighted becauseit is not an article icon. With this feature, the user can perceive thebanana as an article handleable by the robot 102 on the console windowand readily designate a task for the robot. As a result, the convenienceof the user improves.

In the case where the name of an article is popped up, the informationabout the article may be displayed together. If the article is food, thetaste expiration date, the quality guaranteed period, the date ofpurchase, etc., may be popped up, i.e., displayed in the form of pop-upindications. With this feature, the user can designate a task for therobot in consideration of the displayed information (for example, theuser can change the place to which the article is to be transferred).Further, tasks for the article which are recommended in consideration ofthe information about the article may be popped up. For example, whenthe article icon (article) pointed by the cursor is food whose tasteexpiration date is coming, the task of “transferring the article intorefrigerator” is popped up.

When the cursor is pointing at an article icon, the article (articleicon) may be displayed in an enlarged size in addition to the change ofcolor in an article region and/or emphasis of the outline of the articleregion. Alternatively, when the cursor is pointing at an article icon, auser may be phonetically notified of the name of the article, forexample, by a voice message saying “There is a banana”. This featuremakes the system friendly to a visually handicapped user.

When the cursor is pointing at an article icon, the display form of thecursor may be changed, although in this example the display form of thearticle icon is changed. With this feature also, the user can perceivethe article icon pointed by the cursor as an article handleable by therobot 102.

Although in this example an article icon is highlighted when the cursoris pointing at the article icon, all the article icons placed in thevirtual space may be highlighted during a predetermined interval.Especially when a user starts operation in the console window, all thearticle icons may be highlighted during a predetermined interval.Alternatively, all the article icons may be highlighted during apredetermined interval upon request by a user. With this feature, a usercan confirm at one glance where in the environment article icons in thevirtual space, i.e., articles handleable by the robot 102, are placed.

(Step of Designating Article: P1002)

An article which is to be transferred by the robot 102 is designated bymoving the cursor onto the location of an article icon corresponding tothe article and clicking the article icon. When the article icon isdesignated, an indication for confirmation, for example, “Is the subjectarticle is a banana?”, is presented to the user to request the user toconfirm by selecting “OK” or “Cancel”, for example.

After the article icon is selected, the article icon is highlighted forclear notification of the designation. The highlighted indication can berealized in various display forms but may be realized in any displayform so long as the designation of the article is recognized at oneglance, for example, by changing the color of the article icon or bypainting the article icon black as shown in FIG. 17. However, the formof highlighted indication provided when a subject article is designatedis preferably distinguishable from a highlighted indication providedwhen a cursor is pointing at an article icon. This is for the purpose ofdistinguishing the designation of an article as a subject for a task ofthe robot 102 from the indication of an article handleable by the robot102.

(Step of Designating Transfer Destination: P1003)

After the article which is to be transferred by the robot 102 isdesignated, the transfer destination of the article is designated. Thedesignation of the transfer destination is realized by drag-and-droppingthe article icon onto a desired transfer destination in the virtualspace (in this example, location B2 in front of the table) using thecursor as shown in FIG. 17 (see the arrow in FIG. 17). When the articleicon is drag-and-dropped, an indication for confirmation, for example,“Is transfer destination here?”, may be presented to the user. In thisconfirmation message, “here” may be replaced by a specific location.Alternatively, the location may be highlighted. Thus, the designation ofthe transfer by the user is completed.

As described above, the transfer task of an article is designated by anintuitive operation, drag-and-dropping an article icon, which is placedin the virtual space so as to correspond to an article existing in theenvironment, onto a desired destination in the virtual space. Therefore,a user can designate a task assigned to a robot very easily.

Next, the designation procedure for a transfer by the robot 102 isdescribed with an example where a banana placed at location B1 on thefloor of the room is transferred to location B2 behind the table withreference to FIG. 18.

(Step of Displaying Console Window: P2001)

The step of displaying a console window is the same as step P1001. Atstep P2001, a console window including a virtual space formed by acamera viewpoint image is displayed on the display section 117 of theconsole terminal 103.

(Step of Designating Article: P2002)

The step of designating an article is the same as step P1002. At stepP2002, an article which is to be transferred by the robot 102 isdesignated by clicking a corresponding article icon. The designated iconis highlighted.

(Step of Switching Viewpoint: P2003)

After the article which is to be transferred by the robot 102 isdesignated, the transfer destination of the designated article isdesignated. In this example, the transfer destination is location B2behind the table, and location B2 is not shown in the console window ofthe camera viewpoint image. Thus, the viewpoint of the virtual space ofthe console window is switched.

At the time of switching the viewpoint, a camera icon is shown at theviewpoint position on the console window as shown in FIG. 18. A user canswitch the viewpoint of the virtual space of the console window byclicking the camera icon. It should be noted that, when the virtualspace has three or more viewpoints, a plurality of camera icons areshown on the console window so as to correspond to respective viewpointpositions, although only one camera icon is shown in FIG. 18 because thevirtual space has two viewpoints.

(Step of Designating Transfer Destination: P2004)

As a result of switching the viewpoint of the virtual space, the virtualspace of the console window is switched to a virtual viewpoint imageobtained by transforming and synthesizing camera images. In this newconsole window, the article icon is drag-and-dropped onto a desiredtransfer destination in the virtual space (in this example, location B2behind the table) using the cursor (see the arrow in FIG. 18). Thus, thedesignation of the transfer by the user is completed.

As described above, since the virtual space of the console window has aplurality of viewpoints, a blind spot caused when seen from a certainviewpoint is removed by switching the viewpoints. Although in a lifespace of an ordinary house, or the like, the arrangement of appliancesand the locations of articles are highly flexible and this highflexibility is likely to cause a blind spot in a camera image, a usercan appropriately designate a task assigned to a robot on the consolewindow including the virtual space.

Controlling Execution of Task for Robot

After the task assigned to the robot 102 is designated by a user usingthe console terminal 103 as described above, the console terminal 103transmits a message about details of the task to the environmentmanagement server 101. This message may include at least informationthat the task is a transfer of an article, information about an articlewhich is to be transferred, and the coordinates of a transferdestination. It should be noted that the coordinates of the transferdestination which are transmitted from the console terminal 103 to theserver 101 may be coordinates on the console window or may becoordinates obtained by converting coordinates on the console window toreal world coordinates.

When receiving the message, the server 101 generates a robot controlcommand string according to the message and transmits the generatedrobot control command string to the robot 102. The task of transferringan article is divided into four task units: “transfer (of the article toa location)”, “grab (of the article)”, “travel (to a destination)”, and“release (of the article)”. In the above example, the robot controlcommand string is:

move, B1 (moving the robot to location B1 at which a banana exists);

grab, banana (grabbing the banana existing at location B1);

move, B2 (traveling to location B2 (with the banana grabbed)); and

release (releasing the grabbed banana).

When a transfer of a plurality of articles is assigned, a set of theabove four commands is duplicated by the number of articles.

The controller 115 of the robot 102 operates in the same way asdescribed in embodiment 1 with FIG. 13, and therefore, the descriptionsthereof are herein omitted.

Thus, the task designated through the console terminal 103 is executedby the robot 102 such that the banana at location B1 is transferred tolocation B2.

During the operation of the robot 102, the console window displayed onthe display section 117 of the console terminal 103 may be linked with acamera image such that the execution of a task by the robot 102 is shownin the console window. With this arrangement, a user can confirm on theconsole window whether or not a designated task is carried intoexecution by the robot 102. For example, when the robot 102 is carryingout a wrong operation, the user can immediately stop the operation.

Alternatively, during the operation of the robot 102, the console windowmay be fixed at the camera image displayed before the robot 102 startsthe operation. With this arrangement, the difficulty in designating anew task during the travel of the robot 102 in the console window isdismissed.

Switching of such display mode may be carried out according to a user'sdesignation. During the operation of the robot 102, the frequency ofchanging the console window linked with the camera image may beadjustable.

As described above, an article handling system of the present inventionincludes the robot 102 for handling an article existing in apredetermined life space (environment) and the console unit (consoleterminal 103) which has the display section 117 and the input section116 which serves as an interface for a user. The display section 117displays a console window including a virtual space which simulates theactual conditions of the life space. A user uses the input section 116to designate a task assigned to the robot 102 in the virtual space. Therobot 102 handles an article in the life space based on the designatedtask.

As described above, according to the present invention, the consolewindow is formed by a virtual space which simulates the actualconditions of a life space. Therefore, although the actual conditions ofthe life space, such as an ordinary house, or the like, are morecomplicated than those of a factory or warehouse, the complicatedconditions are displayed in the form of a console window as they are.For example, although arrangement of articles is random in a life space,articles are placed in the virtual space according to the randomarrangement of the articles in the life space. In this way, thecomplicated conditions of the life space are presented to users in anappropriate and clear fashion.

Further, according to the present invention, the task assigned to therobot 102 is designated in the virtual space. With this feature, thetask for the robot in the life space under the complicated conditionscan be readily designated.

According to an article handling system of the present invention, whenthe task carried out by the robot is a transfer of an article in thelife space, the console window includes article icons placed in thevirtual space such that the article icons correspond to articlesexisting in the life space, and the transfer of an article is designatedby manipulating a corresponding article icon.

Since article icons are placed in the virtual space such that thearticle icons correspond to articles existing in the life space, it ispossible to easily designate an article which is to be transferred by arobot among articles placed at various locations in the life space.Since a task for the robot 102 is designated by manipulating an articleicon, the task is designated adequately and easily.

According to an article handling system of the present invention, thearticle transfer task is designated by drag-and-dropping a desiredarticle icon onto a desired transfer destination in the virtual space.Thus, to designate an article transfer task, a user selects a desiredarticle icon among article icons placed in the virtual space of theconsole window and drag-and-drops the selected article icon onto adesired transfer destination in the virtual space. Based on thedesignation, the robot 102 transfers an article corresponding to thedesignated article icon to a location in the life space whichcorresponds to the transfer destination designated in the virtual space.

Since the transfer task of an article is designated by an intuitiveoperation, drag-and-dropping a designated article icon onto a desiredtransfer destination in the virtual space, a user can designate a taskassigned to the robot 102 very easily.

The article handling system according to the present invention furtherincludes an image capturer (a camera as the sensing unit 120) forcapturing images of the life space. The virtual space of the consolewindow is constructed from the data of images captured by the imagecapturer.

With such a feature, the virtual space which simulates the actualconditions of the life space can readily be created. It should be notedthat the virtual space may be constructed by computer graphics.

In an article handling system of the present invention, a console windowis formed by image data used for constructing a virtual space, articleicons placed in the virtual space such that the article icons correspondto articles existing in the life space, and window mask data which hascoordinate values corresponding to the image data and specifies thelocations of the article icons in the virtual space.

That is, when the virtual space is constructed from image data, it isnecessary to specify which part of the image data corresponds to articleicons in order to manipulate the article icons on the console window. Tothis end, the console window is formed by the image data, article icons,and window mask data and, due to the window mask data, the locations ofthe article icons in the virtual space are specified. As a result, it ispossible to manipulate the article icons on the console windowconstructed from the image data.

The article handling system according to the present invention furtherincludes the sensing unit 120 for detecting the locations of articles inthe life space. The window mask data is generated based on the locationsof the articles detected by the sensing unit 120.

By detecting the location of an article existing in the life space usingthe sensing unit 120, a location in the virtual space which correspondsto the detected location in the life space is specified. Therefore,window mask data which specifies the location of an article icon in thevirtual space can be generated.

In a system constructed for use in a life space, such as an ordinaryhouse, or the like, various articles exist in the life space as in thearticle handling system of the present invention. For example, fixturesand appliances fixed or installed in the space also fall within thearticles. However, such fixtures and installed appliances cannot betransferred by the robot 102. The articles existing in the life spaceare distinguishable into articles handleable by the robot 102 andarticles unhandleable by the robot 102, but both the articles handleableby the robot 102 and the articles unhandleable by the robot 102 areshown on the console window including the virtual space.

In view of such, in an article handling system according to the presentinvention, when a pointer (cursor) is pointing at an article iconcorresponding to an article handleable by the robot 102 on a consolewindow, the article icon is highlighted, or information about thearticle is displayed.

With such a feature, a user can easily specify articles handleable bythe robot 102 among numerous articles displayed in the console window.Thus, it is possible to easily designate a task assigned to the robot102. The criteria for distinguishment between the articles handleable bythe robot 102 and the articles unhandleable by the robot 102 variesaccording to details of the task assigned to the robot 102. For example,as for the task of transferring an article, fixtures and installedappliances and large or heavy items that the robot 102 cannot transferare articles unhandleable by the robot 102, and the others are articleshandleable by the robot 102.

When the robot 102 is changed in the system, the handleable articles canbe changed according to the change of the robot 102. Herein, the changeof the robot 102 includes not only a change in hardware, e.g.,replacement of the robot 102 by a new one, but also a change insoftware, e.g., a change made in a control program of the robot 102.

When the articles handleable by the robot 102 are thus changed, all thearticle icons placed in the virtual space may be highlighted during apredetermined time interval for the purpose of notifying a user aboutthe change. With this feature, a user can recognize the articleshandleable by the robot 102 at one glance.

The article handling system according to the present invention may beconstructed such that, when the articles handleable by the robot 102 arechanged, all the article icons corresponding to the articles handleableby the robot 102 are highlighted.

In the article handling system according to the present invention, whena subject article for a task of the robot 102 is designated bydesignating a corresponding article icon on the console window, thearticle icon is highlighted.

With the above feature, a user can confirm designation of an articleicon, and accordingly, the robot 102 is prevented from handling afalsely designated article.

As described above, an article handling system according to the presentinvention is provided for use in a life space, such as an ordinaryhouse, office, hotel, store, hospital, or the like. Therefore, in thelife space, there are fixtures and installed appliances, e.g.,furniture, and the like, and articles handleable by the robot exist atvarious locations.

In this case, in a console window formed by a virtual space whichsimulates the actual conditions of the life space, if the viewpoint ofthe virtual space is fixed at one viewpoint, an article can be hidden byfurniture, or the like, from the viewpoint or, in the case oftransferring the article to a desired transfer destination, the transferdestination of an article can be in a blind spot. This problem cannot behappen, in general, in an industrial system used in a factory,warehouse, or the like. This is because, in the industrial system,articles are placed at predetermined locations in many cases, and thearrangement of the space is predetermined such that a blind spot is notcaused even if the system has only one viewpoint for monitoring thespace.

In view of the above, in the article handling system according to thepresent invention, the viewpoint of the virtual space of the consolewindow is switchable.

Due to the switchability among a plurality of viewpoints of the virtualspace, a blind spot caused for a certain viewpoint can be removed byswitching the viewpoint to another. Thus, in an article handling systemused in a life space having complicated situations, it is possible toadequately designate a task assigned to the robot 102 on the consolewindow.

A robot console unit (console terminal 103) according to the presentinvention is a unit for designating a task assigned to the robot 102 forhandling an article existing in a predetermined life space.

The robot controller unit includes a display section 117 for displayinga console window and an input section 116 which serves as an interfacefor a user. The display section 117 displays a console window includinga virtual space which simulates actual conditions of the life space. Theuser uses the input section 116 to designate a task assigned to therobot 102 in the virtual space.

With the above structure, as described above, the display section 117displays a console window including a virtual space which simulatesactual conditions of the life space. Thus, the complicated conditions ofthe life space are presented to the user in an appropriate and clearfashion.

The designation of the task for the robot 102 is carried out in theconsole window including the virtual space. Therefore, a user can easilydesignate the task assigned to the robot 102.

An article handling method according to the present invention is amethod which uses the robot 102 for transferring an article existing ina predetermined life space.

The above article handling method comprises the steps of: displaying aconsole window which includes a virtual space simulating actualconditions of the life space and article icons placed in the virtualspace such that the article icons correspond to articles existing in thelife space; designating a desired article icon on the console window;drag-and-dropping the designated article icon onto a desired transferdestination in the virtual space; and the robot 102 in the life spacetransferring an article corresponding to the designated article icon tothe transfer destination designated in the virtual space.

The article handling method according to the present invention furtherincludes the step of switching the viewpoint of the virtual space of theconsole window. In the above-described embodiment, this viewpointswitching step is carried out before the step of drag-and-dropping thearticle icon onto a desired transfer destination in the virtual spacebut may alternatively or additionally be carried out before the step ofdesignating a desired article icon.

Other Embodiments

In this embodiment, the server 101 generates a robot control commandstring according to a task detail message from the console terminal 103and transmits the generated robot control command string to the laborerrobot 102. However, alternatively, the console terminal 103 may generatea robot control command string according to a task designated on theconsole window and transmit the generated robot control command stringto the laborer robot 102.

In this embodiment, the article handling system is formed by threesubsystems, the environment management server 101, the robot 102 and theconsole terminal 103, and these subsystems 101, 102 and 103 communicateinformation over a wireless or wired network, or the like. However, thearticle handling system is not limited to this structure. For example,the console terminal 103 may be integrated with the environmentmanagement server 101.

The robot 102 is not limited to one robot unit. A plurality of robotsmay work in cooperation with one another to execute tasks in parallel.

In this embodiment, the robot 102 transfers an article, and a task forthe robot 102 is designated by drag-and-dropping an article icon on theconsole window including a virtual space which simulates the actualconditions of an environment. However, the task for the robot 102 whichis designated on the console window including the virtual space is notlimited to transfer of an article but may be different types of tasks,which include tasks not involving transfer of an article. For example,when an article icon which is a subject of a task for the robot 102 isdesignated on the console window, tasks which can be executed by therobot 102 may be displayed in the form of a menu on the console window.In this case, a user selects a task from the menu, thereby designating atask assigned to the robot 102.

Effects of the Invention

As described above, in an article handling system, article handlingmethod, and robot console unit for use in a life space according to thepresent invention, a console window including a virtual space whichsimulates the actual conditions of the life space is displayed on adisplay section of a console terminal (robot console unit). With suchfeatures, a user can precisely grasp the complicated situations in thelife space. Further, the user can designate a task assigned to a roboton the console window. For example, to designate an article transfertask, an article icon placed in a virtual space so as to correspond toan article existing in the life space is manipulated, for example,drag-and-dropped onto a desired destination in the virtual space,whereby the transfer task is designated. Since the task assigned to therobot can be designated by such an intuitive operation, anybody caneasily designate the task.

On the console window, when a cursor is pointing at an article iconhandleable by a robot, a clear illustration is presented to a user tonotify the user about it. Therefore, the user can surely designate anarticle which is to be handled by the robot.

When an article (article icon) which is to be handled by a robot isdesignated, an illustration is presented on the console window such thata user can recognize the designation. Therefore, the robot is preventedfrom handling a falsely designated article.

Furthermore, the viewpoint of the virtual space of the console window isswitchable. For example, an article which is in a blind spot from acertain viewpoint can be made observable by switching the viewpoint, anda location which is in a blind spot from a certain viewpoint can be madeobservable by switching the viewpoint. That is, the entire virtual spacewhich simulates the complicated actual conditions of the life space cansurely be displayed.

If the virtual space which simulates the actual conditions of the lifespace is constructed from image data captured by a camera, the virtualspace can readily be generated.

(Embodiment 3)

Here, in connection with a nonindustrial article transfer system forinstructing a robot to transfer an article in life space where peoplelive their lives, such as homes, offices, hotels, stores and hospitals,an object of the present invention is to allow easy designation of atask of the robot to execute.

The article transfer system according to the present invention includesa robot for transferring an article existing in a predetermined lifespace and a designation device including a display section fordisplaying a console window and an input section which serves as aninterface for a user, wherein the console window is displayed on thedisplay section and the user designates a task of the robot to executein the console window through the input section such that the robottransfers the article in the life space according to the task designatedin the console window. The system has, as a console mode of thedesignation device, a location icon console mode for displaying on thedisplay section a console window showing an article icon indicative ofan article existing in the life space and a location icon indicative ofa specific location in the life space.

According to the above-described structure, a console window isdisplayed on the display section of the designation device. When theconsole mode of the designation device is the location icon consolemode, the display section displays a console window showing an articleicon indicative of an article existing in the life space and a locationicon indicative of a specific location in the life space. In the consolewindow, the user designates a task of the robot to execute through theinput section. For example, in order to designate an article transferredby the robot and the destination of the article, a desired article iconand a desired location icon are designated in the console window. Oncethe article and the destination are designated, the robot transfers thearticle in the life space according to the designated task.

In the life space such as homes, locations of articles are not fixed andtheir destinations are not fixed either. According to the presentinvention, the console window shows article icons corresponding toarticles existing in the complicated life space and location iconsindicative of specific locations in the life space. Once the userdesignates a desired article icon and a desired location icon, the robottransfers the designated article to the designated location. Thus, inthe complicated life space, everybody can easily designate the task ofthe robot.

Specifically, according to a first aspect, the present inventionprovides an article transfer system including a robot for transferringan article existing in a predetermined life space and a designationdevice including a display section for displaying a console window andan input section which serves as an interface for a user, wherein theconsole window is displayed on the display section and the userdesignates a task of the robot to execute in the console window throughthe input section such that the robot transfers the article in the lifespace according to the task designated in the console window, and thesystem has, as a console mode of the designation device, a location iconconsole mode for displaying on the display section a console windowshowing an article icon indicative of an article existing in the lifespace and a location icon indicative of a specific location in the lifespace.

According to a second aspect related to the first aspect, the articleicon and the location icon are designated in the console window in thelocation icon console mode, whereby the article transferred by the robotand the destination of the article are designated.

According to a third aspect related to the first aspect the consolewindow shows a generic icon covering (generically indicative of) aplurality of locations in the life space. When the article icon and thegeneric icon are designated in the console window, a location suitablefor the attribute of the designated article is selected from theplurality of locations covered (generically indicated) by the genericicon and the robot transfers the designated article to the selectedlocation in the life space.

According to a fourth aspect related to the first aspect, the articletransfer system further has, as a console mode of the designationdevice, a virtual space console mode for displaying on the displaysection a console window showing a virtual space which simulates actualconditions of the life space and an article icon which is placed in thevirtual space to correspond to an article existing in the life space.

According to a fifth aspect related to the first aspect, the articleicon and a location in the virtual space are designated in the consolewindow in the virtual space console mode, whereby the articletransferred by the robot and the destination of the article aredesignated.

According to a sixth aspect related to the first or fourth aspect, thearticle transfer system further has, as a console mode of thedesignation device, an action icon console mode for displaying on thedisplay section a console window showing an article icon indicative ofan article existing in the life space and an action icon indicative ofan action exerted on the article.

According to a seventh aspect related to the sixth aspect, the articleicon and the action icon are designated in the console window in theaction icon console mode, whereby the article handled by the robot andthe action exerted on the article are designated. Once the article iconand the action icon are designated in the console window, a location inthe life space is selected according to the attribute of the designatedarticle and the designated action and the robot transfers the designatedarticle to the selected location.

According to an eighth aspect related to any one of the second, thirdand seventh aspects, the console window is configured such that thearticle icon is drag-and-droppable onto a different icon.

According to a ninth aspect related to the eighth aspect, the consolewindow is configured such that a plurality of article icons aredrag-and-droppable onto a different icon.

According to a tenth aspect, the present invention provides an articletransfer system including a robot for transferring an article existingin a predetermined life space and a designation device including adisplay section for displaying a console window and an input sectionwhich serves as an interface for a user, wherein the display sectiondisplays a console window showing an article icon indicative of anarticle existing in the life space and an action icon indicative of anaction exerted on the article and the user designates an article handledby the robot and an action exerted on the article in the console windowthrough the input section such that a location in the life space isselected according to the attribute of the designated article and thedesignated action and the robot transfers the designated article to theselected location.

According to an eleventh aspect related to any one of the first, fourth,sixth and tenth aspects, the article transfer system further includes asensing unit for detecting an article existing in a life space and theconsole window shows an article icon corresponding to an articledetected by the sensing unit.

According to a twelfth aspect, the present invention provides a robotcontrol unit including a display section for displaying a console windowand an input section which serves as an interface for a user so as todesignate a task of a robot for transferring an article existing in apredetermined life space, wherein the robot control unit has a locationicon console mode for displaying on the display section a console windowshowing an article icon indicative of an article existing in the lifespace and a location icon indicative of a specific location in the lifespace such that the user designates a task executed by the robot in theconsole window through the input section.

According to a thirteenth aspect related to the twelfth aspect, therobot control unit further has a virtual space console mode fordisplaying on the display section a console window showing a virtualspace which simulates the actual conditions of the life space and anarticle icon which is placed in the virtual space to correspond to anarticle existing in the life space.

According to a fourteenth aspect related to the twelfth or thirteenthaspect, the robot control unit further has an action icon console modefor displaying on the display section a console window showing anarticle icon indicative of an article existing in the life space and anaction icon indicative of an action exerted on the article such that theuser designates a task executed by the robot in the console windowthrough the input section.

According to a fifteenth aspect, the present invention provides a robotcontrol unit including a display section for displaying a console windowand an input section which serves as an interface for a user so as todesignate a task of a robot for transferring an article existing in apredetermined life space, wherein the robot control unit has an actionicon console mode for displaying on the display section a console windowshowing an article icon indicative of an article existing in the lifespace and an action icon indicative of an action exerted on the articlesuch that the user designates a task executed by the robot in theconsole window through the input section.

Embodiment 3 of the present invention is directed to an article transfersystem for instructing a laborer robot to transfer an article existingin life space. According to the present embodiment, a certain room in ageneral residential construction is considered as target space of thearticle transfer system (hereinafter the space is referred to asenvironment). In addition to the transfer of the article, the laborerrobot may handle various kinds of tasks related to the article. However,in the present embodiment, the laborer robot is configured to transferan article designated by the user to a designated location.

FIG. 20 is a block diagram illustrating the structure of the articletransfer system according to the present embodiment.

In FIG. 20, the same components as those shown in FIG. 2 are indicatedwith the same reference numerals and a detailed explanation thereof isomitted.

A robot 102 is provided with a destination selector 130 in addition tothe obstacle sensor 111, grabbing element 112, travel plan generator113, travel device 114 and transceiver 109 described in Embodiment 1.When a task is designated by the user in a location icon console modedescribed later, the destination selector 130 selects the destination ofa target article (article to be transferred) according to the attributeof the article. A controller 115 controls the sensor 111 and theconstituents 109, 112, 113, 114 and 120.

According to the present embodiment, assuming that articles existing inthe environment are added with electronic tags, respectively, thegrabbing element 112 is provided with a reader/writer. Therefore, whenthe grabbing element 112 grabs an article, the reader/writer reads outinformation written in the electronic tag, thereby identifying what thegrabbed article is. However, the grabbing element 112 may not have thereader/writer.

A console terminal 103 includes an action/location translator 131 inaddition to the display section 117, input section 116, displaycontroller 118 and transceiver 109 described in Embodiment 1. When atask is designated by the user in an action icon console mode describedlater, the action/location translator 131 determines the destination ofa target article (article to be transferred) according to the attributeof the target article and an action exerted on the article. A controller119 controls the constituents 109, 116, 117, 118 and 121.

In the present system, there are three different console modes fordesignating a task of the robot through the console terminal 103: 1) avirtual space console mode; 2) a location icon console mode; and 3) anaction icon console mode Switching among the console modes is carriedout by the user through the input section 116.

The three console modes are the same in that the user designates thetask in the console window displayed on the display section 117, butdifferent in the configuration of the console window displayed on thedisplay section 117. Hereinafter, an explanation of the three consolemodes will be provided.

(Virtual Space Console Mode)

FIG. 21 illustrates an example of a console window appears on thedisplay section 117 of the console terminal 103 in the virtual spaceconsole mode. The console window shows a virtual space which simulatesactual conditions of the environment. The virtual space in the consolewindow is created based on image data captured by a camera (not shown)placed in the environment. In the present embodiment, the camera isplaced on a sidewall within the environment as a sensing unit 120.

The console window also shows a cursor (pointer) and article iconsplaced in the virtual space to correspond to articles existing in theenvironment. The console window of FIG. 21 shows article icons such asan empty can icon (kan_small_(—)0001), a lemon icon(lemon_small_(—)0001), a notebook icon (note_small_(—)0001), a bananaicon (banana_small_(—)0001) and a paper trash icon(trash_small_(—)0001). In the virtual space console mode, furnishingsexisting in the environment also appear in the console window. However,they will not be regarded as the article icons. Only those which therobot 102 can handle are shown as the article icons in the consolewindow.

In the console window in the virtual space console mode, the user movesthe cursor in the console window through the input section 116 of theconsole terminal 103, thereby designating a task executed by the robot102. In order to instruct the robot 102 to execute the task oftransferring an article, the user designates a desired article icon anda desired location in the virtual space. The console window isconfigured such that the article icons are moved in the virtual spacecreated in the console window by so-called dragging. Therefore, in orderto designate the article icon and the location in the virtual space, theuser designates the desired article icon in the virtual space by thecursor, and then drags and drops the designated article icon onto thedesired location in the virtual space. Then, the article and thedestination of the article are designated. Arrows indicated in FIG. 21illustrate how the empty can icon (kan_small_(—)0001) is dragged anddropped onto a recycle basket 531 in the virtual space and how the lemonicon (lemon_small_(—)0001), notebook icon (note_small_(—)0001) andbanana icon (banana_small_(—)0001) are dragged and dropped onto a table551 in the virtual space and how the paper trash icon(trash_small_(—)0001) is dragged and dropped onto a general wastebasket541 in the virtual space.

As described above, the virtual space shown in the console window in thevirtual space console window is image data captured by the camera.Therefore, it is necessary to specify which region of the image datacorresponds to the article icon. For this reason, the console windowincludes, in addition to the image data for creating the virtual space,window mask data which corresponds to the image data (virtual space) ina one-by-one relationship and specifies the position of the article iconin the virtual space. The window mask data contains mask datacorresponding to a region in the console window at which the articleicon is placed. When the position (coordinate values) at which thearticle icon is placed is designated by the cursor in the console windowshowing the virtual space, the same coordinate values are referred to inthe window mask data, thereby judging whether or not the designatedposition is an article (article icon). In the coordinates of the maskdata in the window mask data, a pointer for article data in an articledatabase (see FIG. 6) is described. When the article icon is designated,the article data is referred to using the pointer described in thecoordinates as a key, thereby identifying which article is indicated bythe article icon pointed out by the cursor. The window mask data iscreated by a background-subtracted image because thebackground-subtracted image specifies the position of the article in theimage captured by the camera.

When the article icon is dragged and dropped in the console window todesignate the task of transferring the article, the console terminal 103sends a task message to an environment management server 101. Themessage contains at least information that the task is to transfer thearticle, information of the article to be transferred and thecoordinates of the destination of the article.

Upon receiving the message, the server 101 generates a sequence of robotcontrol commands in accordance with the message contents, and then sendsthe generated sequence of robot control commands to the robot 102.

The controller 115 of the laborer robot 102 receives the sequence ofrobot control commands and executes the control commands along theflowchart shown in FIG. 13. As a result, the laborer robot 102 transfersthe article designated in the console window to the designated locationin the virtual space.

In the virtual space console mode, as described above, the consolewindow appears on the display section 117 of the console terminal 103shows a virtual space which simulates the actual conditions of theenvironment. Further, the task of transferring the article is designatedby intuitively dragging and dropping an article icon which is placed inthe virtual space to correspond to an article existing in theenvironment onto a desired destination in the virtual space. Thus, theuser is allowed to designate the task of the robot with great ease.

Different from the location icon console mode and the action iconconsole mode to be described later, the virtual space console modeallows the user to designate the destination of the article in thevirtual space as he/she likes. Therefore, the degree of freedom of thetask assigned to the robot increases.

(Location Icon Console Mode)

FIG. 22 illustrates an example of a console window appears on thedisplay section 117 of the console terminal 103 in the location iconconsole mode.

The console window shows article icons together with location iconsindicative of the destinations of articles existing in the environment.The article icons correspond to the articles detected by the sensingunit 120 in the environment. Specifically, the article icons shown inthe console window indicate articles actually existing in theenvironment. The article icons are listed in relation to article IDs.The console window illustrated in FIG. 22 shows article icons such as anempty can icon (kan_small_(—)0001), a lemon icon (lemon_small_(—)0001),a notebook icon (note_small_(—)0001), a banana icon(banana_small_(—)0001) and a paper trash icon (trash_small_(—)0001).Therefore, the user recognizes the articles existing in the environmentat a glance. When the articles existing in the environment are too manyto display on a single window, a scroll bar is used. Alternatively, thearticles existing in the environment may be classified into a treestructure according to category such as food and garment such that thearticles are displayed along the hierarchy from the higher ordercategory to the lower order category.

The article icons may also be sorted by name of the articles, frequencyof designation or the like. Alternatively, the article icons may bedisplayed in an automatically established order according to the detailsof the articles. For example, as described above, in order to classifythe article icons according to category, e.g., food, a default settingmay be carried out such that the article icons belonging to thatcategory are displayed in ascending order of use-by date. Also in thiscase, the article icons may preferably be sorted by other criteria.

The article icons may be created by actual images of the articlescaptured by the camera serving as the sensing unit 120. Alternatively,icon data may be used if contained in the electronic tags attached tothe articles.

As described above, the location icons shown in the console window inthe location icon console mode are indicative of the destinations of thearticles in the environment. For example, the location icons may bedesignated as locations to which the articles are transferredfrequently. The console window of FIG. 22 shows a wastebasket icon and atable icon as the location icons. The wastebasket icon, which is one ofthe location icons, is a generic icon indicative of both a recyclebasket and a general wastebasket existing in the environment. That is,the generic icon is provided in the console window to cover (genericallyindicate) a plurality of locations in the environment. The table icon,which is also one of the location icons displayed in the console windowshown in FIG. 22, is not a generic icon but a location icon onlyindicative of a table existing in the environment.

When the transfer of the article is designated in the console window inthe location icon console mode, the article icon and the location iconare designated. Also in this console window, the article icons may bemoved within the console window by so-called dragging. Therefore, inorder to designate the article icon and the location icon, a desiredarticle icon is designated by the above-described cursor and thedesignated article icon is dragged and dropped onto a desired locationicon (generic icon). Thus, the article and the destination of thearticle are designated. Further, in the console window in the locationicon console mode, a plurality of article icons may be dragged anddropped onto the desired location icon at one time.

Next, with reference to FIG. 23, how to designate the task in theconsole window in the location icon console mode will be described. Now,an explanation of how to designate the task of transferring (throwingaway) an empty can and paper trash into the wastebasket will beprovided. Arrows indicated in FIG. 23 illustrate the paths of thecursor.

The article transferred by the robot 102 is designated by moving thecursor to an article icon corresponding to the article and clicking thearticle icon. Here, the cursor is moved to the empty can icon and thenthe icon is clicked (see P0001 of FIG. 23). When the article icon isdesignated, the designated article icon is highlighted to let the usernotice that the icon is surely designated. By so doing, the userrecognizes at a glance which icon has been designated.

In order to designate a second article that the robot 102 transfers, thecursor is moved to an article icon corresponding to the second articleand the icon is clicked (see P0002 of FIG. 23). Also in this case, thedesignated article icon is highlighted. Thus, the empty can icon and thepaper trash icon are highlighted. If a third article is furtherdesignated, an article icon corresponding to the third article isclicked.

After the article icons corresponding to the articles transferred by therobot 102 are designated, the designated article icons are dragged anddropped onto the location icon. The drag-and-drop is exerted on all thedesignated articles at one time. In this case, the empty can icon andthe paper trash icon are dragged and dropped onto the wastebasket icon(see P0003 of FIG. 23).

Thus, the transfer of the empty can and the paper trash into thewastebasket (a recycle basket or a general wastebasket) is designated asthe task.

When the task of the robot 102 is designated in this way, as describedabove, the console terminal 103 sends a task message to the environmentmanagement server 101 and the server 101 sends a sequence of robotcontrol commands to the laborer robot 102.

The controller 115 of the laborer robot 102 executes the receivedsequence of robot control commands along the flowchart shown in FIG. 13.Thus, the articles designated in the console window are transferred tothe designated locations.

In the location icon console mode, the destination of the article may bedesignated via the general icon (the wastebasket icon in theabove-described example). In such a case, the destination selector 130of the laborer robot 102 selects a suitable destination of thedesignated article.

The destination selector 130 of the laborer robot 102 selects a suitabledestination from the locations covered (generically indicated) by thegeneral icon according to the attribute of the article designated by theuser. The destination selector 130 selects the destination based ondestination selection knowledge which is stored in the destinationselector 130. For example, the destination selection knowledge may bedescribed based on an if-then rule. Specifically, in the case of thewastebasket icon covering (generically indicative of) both of therecycle basket and the general wastebasket, it may be described asfollows.

if (destination == wastebasket) { if (grabbed article == recyclablearticle) { destination = recycle basket; } else { destination = generalwastebasket; } }That is to say, “when the destination is designated as the wastebasketand if the target article (article grabbed by the grabbing element 112)is recyclable, the designated wastebasket is the recycle basket, oralternatively, if the target article (article grabbed by the grabbingelement 112) is not recyclable, the designated wastebasket is thegeneral wastebasket.” The destination selection knowledge may be otherdescription than that based on the if-then rule.

According to the present system, as described above, the grabbingelement 112 of the laborer robot 102 is provided with a reader/writer.The attribute of the article (in the above case, whether it isrecyclable or not) is judged by reading the information written in theelectronic tag attached to the article grabbed by the grabbing element112.

As shown in FIG. 23, when the transfer of the empty can and paper trashinto the wastebasket is designated as the task, the laborer robot 102executes the task as follows (see FIG. 24). Here, it is assumed that theelectronic tag is attached to the empty can but not to the paper trash.

If the grabbing element 112 of the laborer robot 102 grabs the empty can24 first among the two designated articles, the reader/writer of thegrabbing element 112 reads the information from the electronic tagattached to the empty can 24. Based on the information, the controller115 of the laborer robot 102 recognizes that the empty can 24 isrecyclable. Once the attribute of the article is distinguished, thedestination selector 130 determines the destination based on thedestination selection knowledge. Since the empty can 24 is recyclable,the recycle basket 53 is selected as the destination. As the destinationhas been selected, the robot 102 grabbing the empty cam 24 travels tothe recycle basket 53 (see the arrow 1 shown in FIG. 24) and thenreleases the empty can 24 there, thereby putting the empty can 24 in therecycle basket 53.

Next, the laborer robot 102 travels to the paper trash 23 which isanother designated article (see the arrow 2 shown in FIG. 24) to grabthe paper trash 23. Upon grabbing an article, the reader/writer of thegrabbing element 112 is supposed to read information from the electronictag attached to the article. However, since the electronic tag is notattached to the paper trash 23, information is not obtained. In thiscase, the controller 115 of the laborer robot 102 recognizes that thepaper trash 23 is general trash. Then, the destination selector 130determines the destination of the paper trash 23 as the generalwastebasket 54 based on the destination selection knowledge. Then, therobot 102 grabbing the paper trash 23 travels to the general wastebasket54 (see the arrow 3 shown in FIG. 24) and releases the paper trash 23there, thereby putting the paper trash 23 in the general wastebasket 54.

In this case, the reader/writer is attached to the grabbing element 112and the attribute of the article is distinguished by reading theinformation written in the electronic tag attached to the article.However, for example, the attribute of the article may be distinguishedby referring to data accumulated in an article database.

In the location icon console mode, as described above, the consolewindow shows an article icon corresponding to an article existing in theenvironment and a location icon indicative of a specific location in theenvironment such that the user designates a task of the robot bydragging and dropping a desired article icon onto a desired locationicon. Thus, everybody can easily designate the task of the robot.

In the location icon console mode, a plurality of article icons aredragged and dropped at one time. For example, when the user wants totransfer a lot of articles at one time, the task is easily designated.In particular, when the generic icon is used, the destinations of thedesignated articles are determined according to the article attributes.Therefore, two or more article icons are effectively handled at onetime.

The console window in the location icon console mode shows the genericicon. With use of the generic icon, the articles are automaticallytransferred to the destinations suitable for the attributes of thearticles even if the user does not designate specific destinations ofthe designated articles. Especially, as described above, when the userwants to transfer a lot of articles, e.g., to put some kinds of trash(empty can and paper trash) in the wastebasket, the generic icon iseffectively used because the articles are transferred to thedestinations suitable for their attributes (to the recycle basket andthe general wastebasket in the above-described case) by a singleinstruction without need of paying attention to their attributes. Thus,the task is assigned to the robot more easily. Further, errors intransferring the general trash into the recycle basket or the recyclabletrash into the general wastebasket are less likely to occur.

The generic icon is not limited to the above-described wastebasket iconcovering (generically indicative of) both of the general wastebasket andthe recycle basket and may be applied to various cases. For example,where a refrigerator including a refrigerating compartment, a vegetablecompartment and a freezer compartment is placed in the environment, arefrigerator icon covering (generically indicative of) the threelocations of the refrigerating compartment, vegetable compartment andfreezer compartment may be displayed in the console window. When theuser keeps food items in the refrigerator, he/she selects therefrigerating compartment, vegetable compartment or freezer compartmentaccording to the attributes (kinds) of the food items. If therefrigerator icon is shown in the console window as the generic icon andthe article icon is dragged and dropped thereon, the destinationselector 130 selects the freezer compartment, vegetable compartment orrefrigerating compartment according to the attribute of the articlecorresponding to the article icon, i.e., whether the article is a frozenfood, a vegetable or other food items. Thus, the articles are kept inproper locations (compartments) even if the user does not specificallydesignate the destinations.

In the above-described location icon console mode, the generic icon(wastebasket icon) is shown in the console window. However, instead ofthe generic icon, a recycle basket icon and a general wastebasket iconmay be displayed in the console window to correspond to the actuallocations of the wastebaskets existing in the environment as displayedin the console window of FIG. 25.

Then, in order to designate the robot 102 to execute the task oftransferring the empty can and the paper trash to the suitablewastebaskets in the console window, the empty can icon is dragged anddropped onto the recycle basket icon and the paper trash icon is draggedand dropped onto the general wastebasket (see the arrows shown in FIG.25).

(Action Icon Console Mode)

In the action icon console mode, an action exerted on an article isdesignated. According to the designation, the robot 102 executes thetask of transferring the article to the destination corresponding to thedesignated action. The “action” exerted on the article is, for example,to “throw away”, “clean up” or “keep” the article. The “destinationcorresponding to the action” is, for example, “a recycle basket”, whenthe article is “recyclable trash” and the action exerted thereon is“throw away”. Further, when the article is an “eating utensil” and theaction exerted thereon is “clean up”, the destination corresponding tothe action is a “kitchen”. Thus, the “destination corresponding to theaction” is determined according to the attributes of the articles.

FIG. 26 illustrates an example of a console window appears on thedisplay section 117 of the console terminal 103. The console windowshows article icons together with and the action icons indicative ofactions exerted on the articles.

The article icons are the same as those shown in the console window inthe location icon console mode (see FIG. 22). The console window in FIG.26 shows the article icons such as an empty can icon(kan_small_(—)0001), a block icon (toy_small_(—)0001), a glass icon(glass_small_(—)0001), a T-shirt icon (tshirts_small_(—)0001) and apaper trash icon (trash_small_(—)0001).

The action icons shown in the console window in the action icon consolemode indicate actions exerted on the articles. The console window ofFIG. 26 shows the action icons such as a “throw away” icon and a “cleanup” icon.

In order to designate the task of transferring the article in the actionicon console mode, the user designates the article icon and the actionicon in the console window. Also in this console window, the articleicons are moved within the console window by so-called dragging. Inorder to designate the task of transferring the article, a desiredarticle icon is designated and then dragged and dropped onto a desiredaction icon using the cursor. Thus, the article and the action exertedon the article are designated.

As described above, the console window in the action icon console modeis also configured to such that a plurality of article icons are draggedand dropped onto a desired action icon. This allows the user to easilydesignate the task.

The arrows shown in FIG. 26 illustrate how the empty can icon(kan_small_(—)0001) and the paper trash icon (trash_small_(—)0001) aredragged and dropped onto the “throw away” icon and how the block icon(toy_small_(—)0001), glass icon (glass_small_(—)0001) and T-shirt icon(tshirts_small_(—)0001) are dragged and dropped onto the “clean up”icon.

When the task of the robot 102 is thus designated, the console terminal103 sends a task message to the environment management server 101 asdescribed above. However, in the action icon console mode, theaction/location translator 131 of the console terminal 103 determinesthe destination of the designated article according to the designatedaction before sending the task message.

For example, the action/location translator 131 stores anaction/location translation table as shown in FIG. 27. Theaction/location translator 131 refers to the action/location translationtable to determine the destination of the designated article. Theaction/location translation table includes a column of action iconnames, a column of article attributes and a column of destinations.

Now, the processing in the action/location translator 131 will bedescribed in relation to the case where an instruction is made to “cleanup” the block, glass and T-shirt in the console window shown in FIG. 26.

When the article and the corresponding action are designated in theconsole window, the action/location translator 131 first selects thedesignated action icon from the action icon name column of theaction/location translation table. When the designated action icon isnot found in the table, the absence of the action icon is informed tothe user and the processing is terminated. As the “clean up” action hasbeen designated, a “clean up” line, which is the second line from thetop, is selected from the action icon name column.

Then, the attribute of the article corresponding to the designatedarticle icon is identified (for example, by referring to informationaccumulated in the article database). Then, from the article attributecolumn of the action/location translation table, an attribute thatagrees with the identified attribute or an attribute including theidentified attribute (higher order attribute) is selected. For example,the article attribute “glass” is included in “eating utensil” which isthe higher order attribute of the glass. The relationship between thehigher order attribute and the article attribute may previously bestored in the form of a tree structure (hierarchical structure) in theaction/location translator 131. The markings (*) in the articleattribute column of the action/location translation table indicate thatattention to the attribute is unnecessary (any article will do). Here,as the “glass” is the designated article, the “eating utensil” line,which is the higher order attribute of the “glass”, is selected from thearticle attribute column.

Thus, when the action icon and the article attribute are determined, thedestination of the article is selected from the location column of theaction/location translation table. In the location column, the markings(−) indicate that the destination cannot be determined (a suitabledestination is not found). In such a case, the user is informed that theselection has been failed and the processing is terminated. In thelocation column, a “kitchen” line corresponds to the “eating utensil”.Therefore, the destination of the “eating utensil” is determined as the“kitchen”.

A second designated article “block” is subordinate to a higher orderattribute “toy”. As a “toy” line corresponds to a “closet” line of thelocation column, the destination of the “toy” is determined as the“closet”. Moreover, a third designated article “T-shirt” is subordinateto a higher order attribute “garments”. As a “T-shirt” line correspondsto a “clothesbasket” line of the location column, the destination of the“T-shirt” is determined as the “clothesbasket”.

The action/location translation table shown in FIG. 27 is relativelysimply configured. However, the action/location translation table may besubdivided as shown in FIG. 28. Referring to the action/locationtranslation table shown in FIG. 28, when the “clean up” action isexerted on a “garment”, the destination is selected from two options inaccordance with the condition of the garment. Specifically, when thegarment is the used one, a “garment (used)” line is selected from thearticle attribute column. As a result, the destination of the usedgarment is determined as a “clothesbasket”. Further, when the garment isnot used, a “garment (*)” line is selected from the article attributecolumn ((*) indicates that the object does not meet any conditionestablished for the garment). As a result, the destination of thegarment is determined as a “wardrobe”. The condition of the article (inthe above case, the garment is used) may be judged by referring to thehistorical data of the article accumulated in the article database.

When the action/location translator 131 determines the destination ofthe designated article according to the designated action, the consoleterminal 103 sends a task message to the server 101 and the server 101sends a sequence of robot control commands to the laborer robot 102.

Then, the controller 115 of the laborer robot 102 executes the sequenceof robot control commands along the flowchart shown in FIG. 13.

In the action icon console mode, the console window shows the articleicons and the action icons such that the user drags and drops a desiredarticle icon onto a desired action icon to designate the task of therobot. All that the user has to do is to designate the action exerted onthe article and there is no need of specifically designating thedestination of the article. By so doing, the article is automaticallytransferred to a suitable destination according to the attribute of thearticle and the designated action. Thus, everybody can easily designatethe task of the robot.

Also in the action icon console mode, a plurality of article icons maybe dragged and dropped at one time. For example, even when the userwants to transfer a lot of articles at one time, the task is easilydesignated. In particular, in the action icon console mode, thedestinations of the designated articles are determined according to thearticle attributes. Therefore, two or more article icons are effectivelyhandled at one time.

In the action icon console mode, in some cases, a suitable destinationfor the article cannot be found in relation to the article and thecorresponding action and the task designated by the user cannot beexecuted. Therefore, in the action icon console mode, the console windowmay be configured as follows.

Specifically, at first, only the article icons are shown in the consolewindow on the display section 117 of the console terminal 103, while theaction icons are not shown. Then, when an article icon is designated bythe user, the action/location translator 131 refers to theaction/location translation table to select a possible action that therobot 102 can execute on the designated article icon (article). Then,the selected action icon is displayed in the console window. The userdrags and drops the designated article icon to the displayed actionicon, thereby designating the task.

Alternatively, both of the article icons and the action icons are shownin the console window of the display part 117 of the console terminal103 at first, and when the user designates an article icon, some of theaction icons indicating actions that the robot 102 can execute on thedesignated article are left in the console window, while the otheraction icons indicating actions that the robot 102 cannot execute aredismissed. The action icons indicating actions that the robot 102 cannotexecute may be dimmed so as to inform the user that the actions are notselectable. These action icons may be displayed in any way as long asthe user can recognize that the action icons are not selectable. If theuser drags and drops the article icon to the action icon indicative ofthe action that the robot 102 cannot execute, a message such as “unableto execute” may be displayed in the console window. For example, if theactions that the robot 102 can execute are accumulated in the articledatabase in advance in relation to the articles, the action icons may beswitched between displayed and hidden states.

Thus, the case where the robot 102 cannot execute the task designated bythe user is avoided.

According to the present system, the virtual space console mode,location icon console mode and action icon console mode are established.The console modes are selected based on the designated task, therebyincreasing convenience of the article transfer system.

Upon request by the user, switching is carried out among theabove-described three console modes. However, the three console modesmay not be executed in a selective manner. For example, on the displaysection 117 of the console terminal 103, the console window in thevirtual space console mode may be displayed together with the consolewindow in the location icon console mode or the action icon consolemode. Alternatively, the console window in the location icon consolemode may be displayed together with the console window in the actionicon console mode.

According to the present embodiment, the display controller 118 of theconsole terminal 103 creates the console window. However, the consolewindow may be created by the environment management server 101. In thiscase, the console window created by the server 101 is sent to theconsole terminal 103 via a network and the console terminal 103 displaysthe received console window on the display section 117. When the consolemode is switched through the input section 116, the console terminal 103sends a mode switch request signal to the server 101. The server 101then creates the console window in the requested console mode and sendsit to the console terminal 103.

As described above, the article transfer system according to the presentinvention includes a robot 102 for transferring an article existing in apredetermined life space (environment) and a designation device (consoleterminal 103) having a display section 117 for displaying a consolewindow and an input section 116 which serves as an interface for a user.The display section 117 displays the console window and the userdesignates a task of the robot 102 to execute in the console windowthrough the input section 116 such that the robot 102 transfers thearticle in the life space according to the task designated in theconsole window. The system has, as a console mode of the designationdevice, a location icon console mode for displaying on the displaysection 117 a console window including an article icon indicative of anarticle existing in the life space and a location icon indicative of aspecific location in the life space.

In the life space such as homes, locations of articles are not fixed andtheir destinations are not fixed either. According to the presentinvention, the console window shows article icons corresponding toarticles existing in the complicated life space and location iconsindicative of specific locations in the life space. Once the userdesignates a desired article icon and a desired location icon, the robottransfers the designated article to the designated location. Thus, inthe complicated life space, everybody can easily designate the task ofthe robot.

According to the present invention, the console window shows a genericicon covering (generically indicative of) a plurality of locations inthe life space. When the article icon and the generic icon aredesignated in the console window, a location suitable for the attributeof the designated article is selected from the plurality of locations inthe life space covered (generically indicated) by the generic icon.Then, the robot 102 transfers the designated article to the selectedlocation in the life space.

Where two wastebaskets (locations) such as a recycle basket forrecyclable trash and a general wastebasket for other trash exist in thelife space, the console window shows the location icons only (a recyclebasket icon and a general wastebasket icon). In this case, for example,when the user wants to instruct the robot 102 to throw away the trashexisting in the life space, he/she has to identify whether the trash isrecyclable or not and designate either the recycle basket icon or thegeneral wastebasket icon.

According to the present invention, however, a wastebasket icon isprovided as a generic icon covering (generically indicative of) both ofthe two wastebaskets. When the article icon and the wastebasket icon aredesignated in the console window, the destination of the article isdetermined according to the attribute of the article, i.e., the recyclebasket is selected when the designated article icon is indicative ofrecyclable trash, or alternatively, the general wastebasket is selectedwhen the designated article icon is indicative of other trash.

In this manner, a location suitable for the attribute of the designatedarticle is selected from the plurality of locations in the life spacecovered (generically indicated) by the generic icon. As a result, therobot 102 transfers the designated article to the selected location inthe life space.

If the generic icon is provided in the console window as describedabove, the user is allowed to designate the task of “putting(transferring) the trash in the wastebasket” in the console windowwithout paying attention to the attribute to the trash. Then, the robot102 puts the designated trash in the wastebasket corresponding to theattribute of the trash. Thus, the generic icon allows the user todesignate the task more easily.

The article transfer system according to the present invention furtherhas, as a console mode of the designation device, a virtual spaceconsole mode for displaying on the display section 117 a console windowshowing a virtual space which simulates the actual conditions of thelife space and an article icon which is placed in the virtual space tocorrespond to an article existing in the life space.

As the virtual space simulating the actual conditions of the life spaceis shown in the console window, the actual conditions of the life spacesuch as homes, which are more complicated than those in factories andwarehouses, are displayed as they are in the console window. Forexample, article icons are placed in the virtual space such that thearticle icons correspond to the articles actually existing in the lifespace, though the positions of the articles are not fixed in the lifespace. Therefore, among the articles placed at various positions in thelife space, an article transferred by the robot 102 is designated withease. By designating the task of the robot 102 in the virtual space, thetask of the robot 102 in the complicated life space is easilydesignated.

If the location icon console mode and the virtual space console mode areestablished, the console modes may be switched in accordance with thetask of the robot 102. As a result, a desired task is surely assigned tothe robot 102 by a simple operation.

The article transfer system according to the present invention furtherincludes, as a console mode of the designation device, an action iconconsole mode for displaying on the display section 117 a console windowshowing an article icon indicative of an article existing in the lifespace and an action icon indicative of an action exerted on the article.Specifically, in the console window in the action icon console mode, theaction icon indicative of the action exerted on the article is shown inplace of the location icon displayed in the location icon console mode.

In the action icon console mode, the article icon and the action iconare designated in the console window, thereby designating an articlehandled by the robot 102 and an action exerted on the article. Once thearticle and the action exerted on the article are designated, a locationin the life space is selected according to the attribute of thedesignated article and the designated action. Therefore, in the actionicon console mode, for example, if the designated article is a “block(toy)” and the designated action is “clean up”, a “closet” is selectedas the destination. Alternatively, when the designated articles are a“glass (eating utensil)” and a “T-shirt (garment)” and the designatedaction is “clean up”, a “kitchen” is selected as the destination of the“glass” and a “clothesbasket” is selected as the destination of the“T-shirt”. Further, when the designated article is an “empty can(recyclable trash)” and the designated action is “throw away”, a“recycle basket” is selected as the destination.

Thus, according to the destination which has been selected in thismanner, the robot 102 transfers the designated article to the selectedlocation.

In the action icon console mode, only the action exerted on the articleis designated in the console window. Then, a destination suitable forthe article is selected and the robot 102 transfers the article to theselected destination. Therefore, the user is not required tospecifically designate the destination. Thus, the user is allowed todesignate the task significantly easily.

If the two console modes including the location icon console mode andthe action icon console mode are established, or the three console modesincluding the location icon console mode, the action icon console modeand the virtual space console mode are established, the console modesmay be switched in accordance with the task of the robot 102.

In the article transfer system according to the present invention, thearticle icon is dragged and dropped onto a different icon (location iconor action icon) in the console window, thereby designating the articletransferred by the robot 102 and the destination of the article or theaction exerted on the article. As the task of the robot 102 isdesignated in the console window by an intuitive action of dragging anddropping of the article icon, the designation of the task of the robot102 is carried out more easily.

Further, if the virtual space console mode is configured such that thearticle transferred by the robot 102 and the destination of the articleare designated by dragging and dropping a desired article icon to adesired location in the virtual space, the task of transferring thearticle is designated by an intuitive action of dragging and droppingthe article icon to the desired location in the virtual space. As aresult, the task of the robot 102 is significantly easily designated.Further, unlike the location icon console mode, the virtual spaceconsole mode allows the user to designate the destination of the articleas he/she likes because the destination of the article is determined inthe virtual space.

In the article transfer system according to the present invention, theconsole window in the location icon console mode or the action iconconsole mode is configured such that a plurality of article icons aredrag-and-droppable at one time. When the plurality of article icons aredragged and dropped onto the location icon at one time, the articles aretransferred to the location indicated by the location icon. Further,when the plurality of article icons are dragged and dropped onto ageneric icon at one time, locations corresponding to their attributesare selected and the articles are transferred to suitable destinations,respectively. When the plurality of article icons are transferred to theaction icon at one time, locations corresponding to their attributes areselected and the articles are transferred to suitable destinations,respectively. Since the plurality of article icons are dragged anddropped at one time, the user is allowed to designate the task moreeasily.

Another article transfer system according to the present inventionincludes a robot 102 for transferring an article existing in apredetermined life space and a designation device (console terminal 103)including a display section 117 for displaying a console window and aninput section 116 which serves as an interface for a user. In thearticle transfer system, the display section 117 displays a consolewindow showing an article icon indicative of the article existing in thelife space and an action icon indicative of an action exerted on thearticle and the user designates the article handled by the robot 102 andthe action exerted on the article in the console window through theinput section 116 such that a location in the life space is selectedaccording to the attribute of the article and the action both designatedin the console window. Thus, the robot 102 transfers the designatedarticle to the selected location in the life space.

According to the above-described structure, all that the user has to dois to designate the article and the action exerted on the article in theconsole window. Then, a destination suitable for the article is selectedand the article is transferred to the selected destination by the robot102. Since there is no need of specifically designating the destination,the user is allowed to designate the task easily.

The article transfer system according to the present invention furtherincludes a sensing unit 120 for detecting an article existing in a lifespace and the console window shows an article icon corresponding to thearticle detected by the sensing unit 120.

A robot control unit according to the present invention (consoleterminal 103) designates a task of the robot 102 which transfers anarticle existing in a predetermined life space. The robot control unitincludes a display section 117 for displaying a console window and aninput section 116 which serves as an interface for a user and furtherhas a location icon console mode for displaying on the display section117 a console window showing an article icon indicative of the articleexisting in the life space and a location icon indicative of a specificlocation in the life space such that the user designates the task of therobot 102 in the console window through the input section 116.

Thus, as described above, the task is assigned to the robot 102 bydesignating the article icon and the location icon in the consolewindow. Therefore, everybody can easily designate the task of the robot102.

The robot control unit according to the present invention furtherincludes a virtual space console mode for displaying on the displaysection 117 a console window showing a virtual space which simulatesactual conditions of the life space and an article icon which is placedin the virtual space to correspond to an article existing in the lifespace. In this mode, the user designates the task of the robot 102 inthe virtual space through the input section 116.

The robot control unit according to the present invention further has anaction icon control mode for displaying on the display section 117 aconsole window showing an article icon indicative of an article existingin the life space and an action icon indicative of an action exerted onthe article such that the user designates the task of the robot 102 inthe console window through the input section 116.

Another robot control unit according to the present invention includes adisplay section 117 for displaying a console window and an input section116 serving as an interface for the user and further has an action iconconsole mode for displaying on the display section 117 a console windowshowing an article icon indicative of an article existing in the lifespace and an action icon indicative of an action exerted on the articlesuch that the user designates the task of the robot 102 in the consolewindow through the input section 116.

As described above-described structure, since the designation of thetask of the robot 102 is carried out by merely designating the articleand the action exerted on the article in the console window, the task ofthe robot 102 is easily designated.

In the present embodiment, the environment management server 101 createsrobot control commands in response to a task message sent from theconsole terminal 103 and then sends the created robot control commandsto the laborer robot 102. However, for example, the console terminal 103may create the robot control commands in accordance with the taskdesignated in the console window and then sends them to the laborerrobot 102.

In the present embodiment, the article transfer system is composed ofthree subsystems including the environment management server 101, robot102 and console terminal 103 and information exchange among thesubsystems 101 to 103 is carried out through a wireless or wirednetwork. However, the article transfer system is not limited to thestructure. For example, the console terminal 103 and the environmentmanagement server 101 may be integrated.

The number of the robot 102 is not limited to one. A plurality of robotsmay work simultaneously in collaboration with each other.

In the present system, the destination selector 130 is incorporated inthe laborer robot 102 which is the second subsystem. However, thedestination selector 130 may be included in the environment managementserver 101 which is the first subsystem or the console terminal 103which is the third subsystem.

Further, the action/location translator 131 incorporated in the consoleterminal 103. However, the action/location translator 131 may beincluded in the environment management server 101 or the laborer robot102.

The present system has three console modes including the virtual spaceconsole mode, location icon console mode and action icon console mode.However, for example, the system may have any two of the three consolemodes or any one of the location icon console mode and the action iconconsole mode.

As described above, as to the article transfer system and the robotcontrol system according to the present invention for use in life space,the display section of the console terminal (robot control unit) in thelocation icon console mode displays a console window showing an articleicon indicative of an article existing in the life space and a locationicon indicative of a specific location in the life space. Therefore, theuser designates the article transferred by the robot and the destinationof the article with use of the icons shown in the console window. Thus,everybody can easily designate the task of the robot. If a generic iconis included in the console window, the user is allowed to instruct thetransfer of a desired article to a destination suitable for theattribute of the article without specifically designating thedestination.

In the virtual space console mode, a console window showing a virtualspace which simulates the actual conditions of the environment isdisplayed on the display section of the console terminal. Therefore, anarticle to be transferred and the destination of the article aredesignated by intuitively designating the article icon which is placedin the virtual space to correspond to the article existing in the lifespace and a location in the virtual space. Further, in the virtual spaceconsole mode, the user is allowed to designate the destination of thearticle in the virtual space as he/she likes.

In the action icon console mode, the display section of the consoleterminal (robot control unit) displays a console window showing thearticle icon and the location icon. Therefore, the user is allowed todesignate the article and the action exerted on the article with use ofthe icons in the console window. As a result, the article is transferredto a specific destination according to the designated action and theattribute of the article. Thus, the user is allowed to designate thetask with great ease.

As the system includes these console modes, the console modes areswitched in accordance with the task of the robot. Thus, the articletransfer system improves in convenience.

(Embodiment 4)

In this embodiment, an object of the present invention is to make alaborer robot place a transfer subject article in an appropriate stateat a designated place in a life space such as a house or an office.

An article management system according to the present invention is asystem for managing an article existing in a life space. The inventivearticle management system includes: a database containing at leastinformation about an article in the life space; a designation device fordesignating a transfer subject article and a placement location which isa destination of the transfer subject article; a laborer robot having aholder for holding an article, the laborer robot holding the transfersubject article in the holder to place the transfer subject article atthe placement location; and a placement posture determination sectionfor determining a posture of the transfer subject article placed by thelaborer robot based on the information contained in the databaseaccording to information about other articles in the vicinity of theplacement location, wherein the transfer subject article is placed atthe placement location in the posture determined by the placementposture determination section.

According to the article management system, the transfer subject articleis placed in the posture determined according to the state of the otherarticles present in the vicinity of the placement location. Therefore,the transfer subject article is placed in an appropriate state, wherebythe article is stored in an organized manner and the space is usedefficiently.

Further, an article management system according to the present inventionincludes: a database containing article information about an article inthe life space and map information of the life space; the designationdevice; the laborer robot; and a placement posture determination sectionfor determining a posture of the transfer subject article placed by thelaborer robot based on the information contained in the databaseaccording to circumstances in the vicinity of the placement location,wherein the transfer subject article is placed at the placement locationin the posture determined by the placement posture determinationsection.

By the article management system, the transfer subject article is placedin the posture determined according to the circumstances in the vicinityof the placement location, and is thus placed in an appropriate state.

Furthermore, an article management system according to the presentinvention includes: the database; the designation device; the laborerrobot; and a placement location determination section for determining aplacement location for the transfer subject article based on theinformation contained in the database, wherein the placement locationdetermination section determines based on the information of thedatabase whether or not there is another article previously placed atthe designated placement location, and if there is no article placed,the placement location determination section does not change theplacement location, and if there is another article already placed, theplacement location determination section changes the placement locationto a vicinal location in which the transfer subject article does notoverlap the other article; and the transfer subject article is placed atthe placement location determined by the placement locationdetermination section.

According to the article management system, in cases where thedesignated placement location is occupied by a different article, forexample, the transfer subject article is not forced to overlap thedifferent article for the placement, whereby the transfer subjectarticle is placed in an appropriate state. Therefore, even in the caseof an ambiguous instruction, the transfer subject article is placed inan appropriate state.

Moreover, an article management system according to the presentinvention includes: the database; the designation device; the laborerrobot; and a placement location determination section for determining aplacement location for the transfer subject article based on theinformation contained in the database, wherein the placement locationdetermination section determines based on the information of thedatabase whether or not there is another article previously placed atthe designated placement location, and, if there is another articlealready placed, further determines whether or not it is possible toplace the transfer subject article on the other article, and ifpossible, the placement location determination section does not changethe placement location, and if not possible, the placement locationdetermination section changes the placement location to a vicinallocation in which the transfer subject article does not overlap theother article; and the transfer subject article is placed at theplacement location determined by the placement location determinationsection.

According to the article management system, the transfer subject articleis placed on another article, if possible, whereby the transfer subjectarticle is placed in an appropriate state.

Furthermore, an article management system according to the presentinvention includes: the database; the designation device; the laborerrobot; and a placement location determination section for determining aplacement location for the transfer subject article based on theinformation contained in the database, wherein the placement locationdetermination section determines based on the information of thedatabase whether or not it is possible to place the transfer subjectarticle at a designated placement location, and if possible, theplacement location determination section does not change the placementlocation, and if not possible, the placement location determinationsection changes the placement location to a vicinal location whereplacement of the transfer subject article is possible; and the transfersubject article is placed at the placement location determined by theplacement location determination section.

According to the article management system, even if a location where thetransfer subject article cannot be placed is designated as the placementlocation, it is possible to place the transfer subject article in avicinal location where placement of the transfer subject article ispossible. Therefore, even in the case of an ambiguous instruction, thetransfer subject article is placed in an appropriate state.

In the above article management system, the holder of the laborer robotmay be any means for holding an article, and there is no specific limitto its holding manner. As the holder, various means can be used, such asmeans for grabbing an article, means for supporting an article, meansfor holding an article by suction, and means for holding an article by amagnetic or electric force, for example.

The life space means a space in which humans and articles exist whilethe formers are associated with the latters, such as a house or anoffice.

Specifically, a first aspect of this embodiment is directed to a systemfor managing an article existing in a life space and the systemincludes: a database containing at least information about an article inthe life space; a designation device for designating a transfer subjectarticle and a placement location which is a destination of the transfersubject article; a laborer robot having a holder for holding an article,the laborer robot holding the transfer subject article in the holder toplace the transfer subject article at the placement location; and aplacement posture determination section for determining a posture of thetransfer subject article placed by the laborer robot based on theinformation contained in the database according to information aboutother articles in the vicinity of the placement location, wherein thetransfer subject article is placed at the placement location in theposture determined by the placement posture determination section.

In a second aspect of this embodiment, the database in the first aspectcontains information at least on either the type or shape of the articleand information on a location and posture of the article; and theplacement posture determination section in the first aspect determineswhether or not an article equal or similar at least either in type orshape to the transfer subject article exists in the vicinity of theplacement location, and if the equal or similar article exits, theplacement posture determination section makes the placement posture ofthe transfer subject article fit in with that of the equal or similararticle.

In a third aspect of this embodiment, in the second aspect if theplacement location designated as the transfer destination is in awastebasket, the placement posture determination section determines thatthe placement posture of the transfer subject article is not made to fitin with the posture of other articles in the wastebasket.

A fourth aspect of this embodiment is directed to a system for managingan article existing in a life space and the system includes: a databasecontaining article information about an article in the life space andmap information of the life space; a designation device for designatinga transfer subject article and a placement location which is adestination of the transfer subject article; a laborer robot having aholder for holding an article, the laborer robot holding the transfersubject article in the holder to place the transfer subject article atthe placement location; and a placement posture determination sectionfor determining a posture of the transfer subject article placed by thelaborer robot based on the information contained in the databaseaccording to circumstances in the vicinity of the placement location,wherein the transfer subject article is placed at the placement locationin the posture determined by the placement posture determinationsection.

In a fifth aspect of this embodiment, if a placement space at theplacement location is limited, the placement posture determinationsection in the fourth aspect determines the posture of the transfersubject article such that the transfer subject article is accommodatedin the placement space.

In a sixth aspect of this embodiment, the placement posturedetermination section in the fourth aspect determines, as the placementposture of the transfer subject article, a posture that allows thetransfer subject article to be stably placed at the placement location.

A seventh aspect of this embodiment is directed to a system for managingan article existing in a life space and the system includes: a databasecontaining article information about an article in the life space andmap information of the life space; a designation device for designatinga transfer subject article and a placement location which is adestination of the transfer subject article; a laborer robot having aholder for holding an article, the laborer robot holding the transfersubject article in the holder to place the transfer subject article atthe placement location; and a placement location determination sectionfor determining a placement location for the transfer subject articlebased on the information contained in the database, wherein theplacement location determination section determines based on theinformation of the database whether or not there is another articlepreviously placed at the designated placement location, and if there isno article placed, the placement location determination section does notchange the placement location, and if there is another article alreadyplaced, the placement location determination section changes theplacement location to a vicinal location in which the transfer subjectarticle does not overlap the other article; and the transfer subjectarticle is placed at the placement location determined by the placementlocation determination section.

An eighth aspect of this embodiment is directed to a system for managingan article existing in a life space and the system includes: a databasecontaining article information about an article in the life space andmap information of the life space; a designation device for designatinga transfer subject article and a placement location which is adestination of the transfer subject article; a laborer robot having aholder for holding an article, the laborer robot holding the transfersubject article in the holder to place the transfer subject article atthe placement location; and a placement location determination sectionfor determining a placement location for the transfer subject articlebased on the information contained in the database, wherein theplacement location determination section determines based on theinformation of the database whether or not there is another articlepreviously placed at the designated placement location, and, if there isanother article already placed, further determines whether or not it ispossible to place the transfer subject article on the other article, andif possible, the placement location determination section does notchange the placement location, and if not possible, the placementlocation determination section changes the placement location to avicinal location where the transfer subject article does not overlap theother article; and the transfer subject article is placed at theplacement location determined by the placement location determinationsection.

A ninth aspect of this embodiment is directed to a system for managingan article existing in a life space and the system includes: a databasecontaining article information about an article in the life space andmap information of the life space; a designation device for designatinga transfer subject article and a placement location which is adestination of the transfer subject article; a laborer robot having aholder for holding an article, the laborer robot holding the transfersubject article in the holder to place the transfer subject article atthe placement location; and a placement location determination sectionfor determining a placement location for the transfer subject articlebased on the information contained in the database, wherein theplacement location determination section determines based on theinformation of the database whether or not it is possible to place thetransfer subject article at the designated placement location, and ifpossible, the placement location determination section does not changethe placement location, and if not possible, the placement locationdetermination section changes the placement location to a vicinallocation where placement of the transfer subject article is possible;and the transfer subject article is placed at the placement locationdetermined by the placement location determination section.

Embodiment 4 of the present invention relates to an article managementsystem for managing an article existing in a life space. Herein, theterm “a life space” means a space in which humans and articles existwhile the formers are associated with the latters, such as a house or anoffice.

FIG. 29 is a block diagram illustrating an example of the entireconfiguration of an article management system 100 according to thisembodiment. In FIG. 29, components common to those shown in FIG. 2 aredesignated by the same reference numerals and the detailed descriptionsthereof will be thus omitted herein.

An article/mobile existence database 106 and an environment map 108constitute a “database” of this invention. In this embodiment, the term“environment” means a so-called life space.

Map information contains structural information on objects (immovableobjects) that are normally hardly moved, such as a room or furniture.The structural information means regional information on a placementsurface which exists at least inside of a space occupied by the immobileobject and on top of the immobile object and on which another object canbe placed. Examples of the placement surface on which another object canbe placed include, if the immobile object is a room, a floor and, if itis a storage space, a shelf. An example of the regional information onthe placement surface is vertices of the circumscribed polygon of theplacement surface. The regional information is represented by acoordinate system, by a coordinate system and shape, or the like.

FIG. 30 is a block diagram schematically illustrating the basicstructure of an article/mobile existence retrieval and managementsection 105 according to this embodiment. The article/mobile existenceretrieval and management section 105 of FIG. 30 includes an articlehandler detection device 401 for detecting that an article registered inthe article/mobile existence database 106 is being handled by a mobileexistence, and a mobile-existence information obtaining device 402 forobtaining information on the mobile existence that is handling thearticle detected by the article handler detection device 401.

The article handler detection device 401 uses a sensing unit 120 todetect that an article is being handled by a mobile existence. Forexample, where the sensing unit 120 uses a background difference methodas described above, the sensing unit 120 compares an input image with amodel image. And when a difference over time occurs in a region, thesensing unit 120 assumes that an article is handled in that region. Thedetection method of the article handler detection device 401 is notlimited to the above method, but an electronic tag, for example, may beused.

When the article handler detection device 401 has detected that anarticle is being handled by a mobile existence, the mobile-existenceinformation obtaining device 402 obtains information on the mobileexistence that is handling the article. For example, when a camera isused as the sensing unit 120 as described above, an image of the regionin which the article was handled is taken by the cameras and the imageis subjected to a face identification process. It can be assumed thatthe mobile existence identified in this manner existed near the articlewhen the article was handled, thereby assuming that this mobileexistence is the handler. In a background difference method, since awide angle camera is typically used, there may be cases in which theresolution of image is too low for face identification. Therefore, inaddition to a camera for a background difference method, a narrow-anglehigh-resolution camera may be provided for face identification, and thenarrow-angle camera may be trained on the region in which handling of anarticle has been detected by the article handler detection device 401 soas to perform the identification. The mobile-existence identificationmethod is not limited to face identification, but may be irisidentification, for example. Alternatively, the identification does nothave to be performed, in which case images of the region in whicharticle handling has been performed may be taken by a camera and theimages may be used by other means. These images may be used only whenthe identification was not performed successfully.

Where electronic tags are used as the sensing unit 120, information onarticles and mobile existences can be collected by appropriately placingtag reader/writers as shown in FIG. 5. Also, when handling of articlesin a specific place is controlled, it is desirable that articleinformation and mobile-existence information be obtained by disposingtag reader/writers in the specific place.

In cases where such tag reader/writers are used, it is desirable thatinformation on a mobile existence that has passed through the door orwindow together with an article be stored in the article/mobileexistence database 106 as the carrier of the article. Then, carriers ofarticles can be controlled automatically by simple processing.

<Article/Mobile Existence Database>

FIG. 31 is a conceptual diagram illustrating an exemplary configurationof the article/mobile existence database 106 and exemplary contents ofthe data therein. The article/mobile existence database 106 is roughlycomposed of a database for dealing with an article (see FIG. 31A) and adatabase for dealing with a mobile existence (see FIG. 31B).

The database for dealing with an article is composed of threesub-databases for storing different types of data: a sub-databasecontaining article data 301, a sub-database containing article historydata 302, and a sub-database containing article attribute data 303. Thecontents of the data of the three types are as follows.

A single set of article data 301 is composed of an ID for use inidentifying an individual article, a pointer to a single set of articlehistory data 302 containing a history of motions of that article, and apointer to a single set of article attribute data 303 containingphysical attributes of that article. Even articles of the same kind mustbe handled as different articles, so long as they are physicallydifferent from each other. Therefore, even articles of the same kind areassigned different IDs. Nevertheless, articles of the same kind, havingdifferent IDs, have the same physical attributes. Therefore, in the caseof articles of the same kind, their pointers indicate the same articleattribute data 303 so as not to waste the storage space in the database.

Each set of article history data 302 contains a history of motions of anarticle and is composed of the four items: times at which the articlewas handled, the handling detail, handlers, and the locations after thehandling. Each location is represented by six parameters in thisembodiment, although the data on locations can be expressed in variousways. The first three parameters (x1, y1, z1) represent the position ofthe article at one time (for example, the center of gravity of thearticle may be used as the representative position), while the latterthree parameters (α1, β1, γ1) represent the posture of the article atthat one time. How to express the posture of the article will bedescribed later. The data on locations and postures is obtained by thesensing unit 120 or a sensor 111 of a robot, which will be discussedlater (see FIG. 29). The handler is selected from the mobile existencesregistered in mobile existence data (which will be described later) bymaking a conjecture in such a manner as described above.

Each set of article attribute data 303 contains information on physicalattributes of an article unique to that article. In FIG. 31A, shape,weight, image of outward appearance, etc. are shown as examples of thephysical attributes. The attribute data is obtained beforehand forregistration by manual operation using measurement methods suitable forthe respective attributes.

Next, shape data and posture data of an article will be described withreference to FIG. 32.

First, shape data of an article will be discussed. FIG. 32A illustratesthe original shape (cylinder) of an article (e.g., a beverage can). Whensuch an article is measured using stereoscopic three-dimensionalmeasurement technique or the like, polygon data can be obtained in whichone surface of the article is approximated by a plurality of surfaces asshown in FIG. 32B. Each surface is described as a set of vertexcoordinates in an appropriately selected reference coordinate system((X′, Y′, Z′) in the figure) for the article.

Next, posture data of an article will be described. FIG. 32C shows thestate of the article in the real world. The coordinates X, Y, and Zindicate the coordinates in the real world, while the coordinates X′,Y′, and Z′ represent the coordinates (article coordinates) relative tothe article. As described above, the shape of the article in the realworld can be obtained, e.g., by constructing the sensing unit 120 of theenvironment management server 101 or the sensor 111 of the laborer robot102 with two cameras and by performing stereoscopic three-dimensionalmeasurement. And the obtained shape of the article in the real world iscompared with the shape data of the article (polygon model) for a match,whereby it can be found how the article is rotated in three dimensionsin the real world, and based on this matching, the posture data of thearticle can be obtained.

More specifically, after the matching between the shape data of thearticle (polygon model) and the shape data in the real world, how thecoordinates of the article associated with the shape data of the articleare rotated in three dimensions in the real world is calculated. To thatend, first, it is assumed that the X′ axis is horizontally rotated by anangle of α and vertically rotated by an angle of β with respect to the Xaxis, and the values of the angles α and β are obtained. FIG. 33A is aview illustrating the X′ axis that is horizontally rotated by an angleof −α and vertically rotated by an angle of −β. Then, as shown in FIG.33B, it is assumed that the Z′ axis is rotated with respect to the Zaxis by an angle of γ, and the value of the angle γ is obtained. In thismanner, posture data on the posture of the article placed in the realworld can be specified using the variables (α, β and γ).

Such posture data is used, e.g., to change the posture of an article.For example, in using the robot 102 to place an article grabbed by therobot, if the circumstances of the placement location and the grabbedposture of the article do not match, the posture data is used to changethe posture of the article to an appropriate posture. For instance, aswill be described in FIG. 37, in a case where a grabbed book 50 isplaced on a bookshelf 55, if the height of the book in a posture (aposture 2), in which the book stands vertically, is higher than that ofthe space in the bookshelf 55, the grabbed posture is changed from theposture 2 to a posture (a posture 3 in which the book stands with itsbackbone being the bottom or the top) that allows the book to beaccommodated on the bookshelf. The posture data described above is usedin cases like this.

Next, a database for dealing with a mobile existence will be described(see FIG. 31B). The database for dealing with a mobile existence iscomposed of three sub-databases: a sub-database containing mobileexistence data 304, a sub-database containing mobile existence historydata 305, and a sub-database containing mobile existence attribute data(not shown). The contents of the data of the three types are as follows.

A single set of mobile existence data 304 is composed of an ID for usein identifying an individual mobile existence and a pointer to a singleset of mobile existence history data 305 containing a history of motionsof that mobile existence.

A single set of mobile existence history data 305 is composed of times,locations of the mobile existence at the above times and states of themobile existence at the above times. The location of the mobileexistence at one time is expressed by three values including coordinates(X, Y) in a surface and a direction r.

Although not shown, a set of mobile existence attribute data containsinformation about inherent physical attributes of the particular mobileexistence. Examples of the physical attributes include weight, shape,etc.

In the mobile existence history data 305, the state of the mobileexistence indicates, if the mobile existence is a human, a normal humanaction such as “sit”, “stand”, “lie” or “walk” and, if it is a robot,handling that the robot can perform on an article, such as “grab” or“release”. Possible states of each mobile existence may be previouslydefined and one of the states may be selected later. If the mobileexistence is a robot, the state is expressed, not by the handling detailonly, but by a combination of the ID of the article to be handled andthe handling detail.

As will be described later, one of the functions of the articlemanagement system 100 of this embodiment is that when the robot 102places a grabbed article in a destination location, the posture of thearticle is changed according to the circumstances of the placementlocation or the like. For example, when a different article is alreadyplaced in the vicinity of the placement location, the article managementsystem 100 functions, e.g., to place the grabbed article next to thedifferent article. In order to exhibit this function, it is necessary tosuccessively record and store information about the article in thedatabase, such as where and in what posture the article is being placed.However, history data which shows past locations and postures is notalways needed, but it is sufficient if the latest information is alwaysobtained.

An example of data update for the article/mobile existence database 106is as described in embodiment 1.

<Environment Map Management Section>

The environment map management section 107 manages a map of theenvironment in which handling of articles is performed. FIG. 34schematically illustrates exemplary environment maps in comparison withthe actual environment. FIG. 34A illustrates the actual environment,FIG. 34B shows, as an environment map, a cubic model in which the actualenvironment is simplified, and FIG. 34C shows a planar model in whichthe actual environment is further simplified. In this way, theenvironment map may be provided as cubic data, or more simply, as planardata. The data may be prepared with consideration given to theapplication of the map or the time and labor required for preparation ofthe map. For example, if it is necessary to prepare a cubic model in avery short time, cubic objects may be modeled as the smallestrectangular parallelepipeds that cover the cubic objects. For instance,the model in FIG. 34B shows an example of such a case. In FIG. 34B, thetable existing in the center in FIG. 34A is modeled as a rectangularparallelepiped. In the case of planar data, modeling is also carried outsimilarly. In the model in FIG. 34C, the table in the center isrepresented by a rectangular region (a rectangular hatched region shownin FIG. 34C) orthogonally projected on the plane, and this region isdefined as a region where the robot cannot enter (a robot non-enterableregion).

<Environment Map>

FIG. 35 shows exemplary data in the environment map 108 that correspondto FIG. 34. The environment map 108 contains an environment map 901 andfurniture attribute data 906.

In the environment map 901, data 902 indicating the size of the room isstored. In this example, since there are a table, a bookshelf and awastebasket in the room, respective data 903 to 905 are stored in theenvironment map 901. The furniture attribute data 906 containsattributes of the room, furniture, and the like. For example, when thereare a plurality of floor faces of different heights in the room,floor-face data is recorded in the room attributes 907 in the furnitureattribute data 906 for each of that number of floor faces.

In a single set of floor-face data, the coordinates (the coordinatelocations in the real-world coordinate system) of the vertices of thatparticular face are written, and in addition, the height to the ceilingand the material of that floor face are provided. For example, data of arectangular floor face is represented by

((X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) (X4, Y4, Z4), 2200, 0).

As the reference of the height, the lowest floor face in the room isregarded as 0. The first four sets of coordinates represent thecoordinates of the vertices, the next value “2200” indicates the height(2200 mm) to the ceiling, and the last figure represents the material ofthe floor face. As to the floor face material, a corresponding number isdetermined in advance for each material. For example, “0” is for woodenfloor, “1” for tatami, and “2” for carpet.

The attributes of each furniture include data on a plurality of surfacesof a polyhedron that approximate a surface of the furniture, the type offurniture, surfaces of the furniture on which an article can be placed(available faces), the shapes and postures of articles mainly placed onthe available faces, and the like.

A single set of furniture surface data contains the coordinates (thecoordinate locations in the real-world coordinate system) of thevertices of that surface, and in addition, a flag indicating whether ornot an article can be placed on that surface. If an article can beplaced on that surface, the upward height is also added. The upwardheight means, in the case of the top of a table, the height to theceiling, and in the case of a shelf, the distance to the next-highershelf, for example.

For example, data on a surface having three vertices is represented by

((X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), 1, 400).

The first three sets of coordinates indicate the coordinates of thevertices, and the next figure “1” indicates that an article can beplaced on that surface. If this figure is “0”, it means that no articlecan be placed on that surface. The last figures “400” indicate that theupward height is 400 mm. The data on the type of furniture is used todetermine what (a table, a bookshelf, a wastebasket, or the like) is thefurniture existing in the particular location.

Examples of the shapes, postures, etc. of articles mainly placed on theavailable faces of furniture are as follows. In a case where thefurniture is a bookshelf, for example, the shape of “books”, which arethe articles mainly accommodated in the furniture, and the normalposture of the books when they are placed in the furniture aredescribed. The shape of books when they stand on the bookshelf in anormal manner is a rectangular parallelepiped, whose depth and heightare extremely longer than the width. However, as in the case of a tableor a wastebasket, there are cases where the shapes and postures ofarticles to be placed are not limited. The furniture attribute data 906containing such attributes enables the laborer robot 102 to place agrabbed article in a favorable posture. For instance, when the articlegrabbed by the laborer robot 102 is similar in shape to a book and abookshelf is designated as the placement location for that article, thelaborer robot 102 can place the grabbed article in a way in which booksare normally placed on a bookshelf. This is applicable not only to therelation between a bookshelf and a book, but also to other relationsbetween a shoebox and shoes, between a dish dryer (or a cupboard) anddishes, and the like.

When the laborer robot 102 is moved in this environment, a travelingroute plan is made using the environment map 108. For example, when thelaborer robot 102 is moved from a point A1 to a point A2 using theplan-model environment map of FIG. 34C, a route avoiding thenon-enterable regions (indicated by the curved arrow of FIG. 34C) may bedetermined by calculation in consideration of the shape and size of thelaborer robot 102.

<Controller in Environment Management Server>

The controller 110 of the environment management server 101 controls theentire server 101 and mainly performs the following control as describedabove.

More specifically, upon receipt of a query about data in the server 101from outside through the transceiver 109, the controller 110 issues,according to the content of the query, a request for reference to thatdata to the article/mobile existence retrieval and management section105 or the environment map management section 107. The controller 110also transmits to the querying source through the transceiver 109 thereference results sent from the article/mobile existence retrieval andmanagement section 105 or the environment map management section 107 inresponse to the request. Also, the controller 110 interprets requestsfor registration/update of the various data in the server transmittedfrom outside through the transceiver 109, and according to theircontents, the controller 110 outputs the data registration/updaterequests to the article/mobile existence retrieval and managementsection 105 or the environment map management section 107. Details ofoperation of the controller 110 will be described later.

Structure of Laborer Robot

In the article management system 100, the laborer robot 102 functions toactually grab and transfer an article existing in the environment. Thearticle grabbing and transfer process by the laborer robot 102 may bepartially or completely automated. In this embodiment, the user gives aninstruction through a console terminal 103, which will be describedlater, and the laborer robot 102 functions in accordance with theinstruction.

As shown in FIG. 29, the laborer robot 102 includes as its basiccomponents a sensor 111, a grabbing element 112, a travel plan generator113, a placement posture determination section 140, a placement locationdetermination section 141, a travel device 114, a transceiver 109, and acontroller 115. The sensor 111 senses obstacles and the like existingaround the robot and obtains information on the article to be grabbed.The grabbing element 112 grabs the article. The travel plan generator113 makes a travel plan using the environment map 108. The placementposture determination section 140 calculates the placement posture ofthe article to be grabbed according to the circumstances of theplacement location and the like. The placement location determinationsection 141 determines, e.g., whether or not a different article isalready placed at the placement location when the grabbed article isplaced, and, if necessary, changes the placement location. The traveldevice 114 is used for traveling of the robot. The transceiver 109sends/receives data to/from the environment management server 101 andthe console terminal 103. The controller 115 controls these components.

A placement location herein indicates a single point in the real-worldspace, for example. To place an article at a placement location is,e.g., to place the article so that the representative point (e.g., thecenter of gravity) of the article matches the placement location.Therefore, where the center of gravity, e.g., is the representativepoint, the location of the placed article represents the center ofgravity of the article. Nevertheless, the representative point of thearticle is not limited to the center of gravity, but may be the shapecenter or other point.

FIG. 36 schematically illustrates an example of the laborer robot 102according to this embodiment. Hereinafter, a description will be made ofthe components of the laborer robot 102 with reference to FIG. 36 inwhich the direction in which the tip of an arm 201 faces is consideredto be the front of the robot.

As the travel device 114, two wheels are provided on each side of therobot main body, that is, a total of four wheels are provided on bothsides. In this example, wheels are provided as an example of the traveldevice 114. However, as the travel device 114, most suitable means maybe selected in accordance with the place and environment in which therobot is used. For example, in cases where the robot moves on the roughground, a crawler travel device or a multilegged-walking travel devicemay be used. When the range of motion of the grabbing element 112, whichis composed of the arm 201 and the hand 202, is the entire house, thetravel device 114 is not necessarily needed.

The sensor 111 senses obstacles and the like existing in the vicinity ofthe robot In this example, the sensor 111 is composed of ultrasonicsensors 111 a, a stereo camera 111 b serving as a vision sensor, and acollision sensor 111 c. Three ultrasonic sensors 111 a are disposed oneach of the front face, the back face, and the left and right sidefaces. Each ultrasonic sensor 111 a emits an ultrasonic wave andmeasures the duration of time between the emitting of ultrasonic waveand the receiving of its reflected wave, thereby roughly calculating thedistance from the sensor to the obstacle. In this embodiment, theultrasonic sensors 111 a sense obstacles in the vicinity of the robot,before the robot comes into collision with those obstacles. The stereocamera 111 b obtains the surrounding circumstances as an image, andperforms processing, such as recognition, on the image, therebyobtaining more precise information for use in making determination aboutthe presence/absence of obstacles and more precise information on thearticle to be grabbed. The collision sensor 111 c senses application ofan impact of a certain magnitude to the collision sensor 111 c, therebydetecting that an obstacle that the other sensors cannot sense hit therobot or the robot itself hit the obstacle while traveling.

When the robot is instructed to move to a designated location, thetravel plan generator 113 makes a travel route starting from the currentlocation to the designated location by using data in the environment map108 obtained from the environment management server 101. When anobstacle exists between the current location and the designatedlocation, a route for avoiding the obstacle is naturally needed. Sincethe region in which the robot can travel is described beforehand in theenvironment map as mentioned above, a travel route may be prepared so asto be within that region. In preparing a travel route, the most commonlyused Dijkstra method or the like is employed.

The placement posture determination section 140 determines the grabbedposture (placement posture) of an article grabbed to be placed by therobot, according to the circumstances of the placement location. Forexample, if a different article similar to the grabbed article isalready placed in the vicinity of the placement location, the posture ofthe grabbed article is changed to fit in with the posture of thedifferent article. Also, if the grabbed article cannot be placed at theplacement location without changing the posture of the grabbed article(for example, the grabbed article cannot be accommodated within thespace at the placement location), the posture of the grabbed article ischanged so that the grabbed article can be placed at the placementlocation. At this time, information on the circumstances of theplacement location (such as the width, depth, height, etc. of theplacement location) and information on the different article placed inthe vicinity of the placement location are necessary to change theposture of the grabbed article, and such information can be obtained bymaking reference to the environment management server 101.

Referring to FIG. 37, an example in which a book 50 is placed on abookshelf 55 will be described. When the book 50 (in a posture 1)grabbed by the robot 102 is placed on the bookshelf 55, the articlemanagement system 100 of this embodiment first checks whether or not adifferent book 57 exists in the vicinity of a designated placementlocation 56. If the different book 57 is present, the posture of thebook 57 is checked, and the posture of the grabbed book 50 is made tofit in with the posture of the different book 57. In this example, sincethe different book 57 is accommodated in a standing posture, the grabbedbook 50 is also made to take a standing posture.

However, the standing posture may be either of two postures: a posture(a posture 2) in which the longer sides of the book 50 extendvertically, and a posture (a posture 3) in which the longer sides of thebook 50 extend horizontally. The placement space on the bookshelf 55 islimited, and when the height of the book 50 exceeds the height of thespace on the bookshelf 55, the book 50 cannot be accommodated if thebook 50 takes the posture 2 in which the longer sides of the book 50extend vertically. In this case, the posture (the posture 3) that fitsin with that of the different book 57 and allows the book 50 to beaccommodated in the placement space on the bookshelf 55 is selected, andthe posture of the grabbed book 50 is changed to that posture before thebook 50 is placed. Whether or not the placement space is limited can bedetermined based on, e.g., whether or not the placement space is a spacedivided by a divider, whether or not the maximum length of the placementspace is shorter than that of the article, or the like. This isapplicable not only to cases where a book is placed on a bookshelf, butalso to cases where a dish is efficiently placed in a cupboard or adishwasher/dryer.

The conventional technique is based on the premise that a placementlocation is sufficiently larger than an article to be handled.Therefore, in cases where a placement location has a limited height asin the case of a bookshelf, for example, the conventional technique isnot applicable as it is. In addition, since articles for industrial useare uniform in shape, it has not been necessary to perform specialprocessing when the articles are transferred. Even so, it has beenconsequently possible to place the articles in an organized manner.However, in order to place articles of various shapes used at home or inan office in an organized manner, processing such as that performed bythe placement posture determination section 140 is required. Details ofoperation of the placement posture determination section will bedescribed later.

When an article grabbed by a robot is placed at a placement location,the placement location determination section 141 checks whether or not adifferent article is already placed at the placement location. If adifferent article is already placed at the placement location, theplacement location determination section 141 determines whether or notthe top face of the different article is flat (horizontal), whether ornot the area of the top face is sufficiently large to have the grabbedarticle thereon, whether or not the material of the different article issolid, and the like. And if the placement location determination section141 determines that it is not possible to place the grabbed article onthe different article, the placement location is changed to a locationnear the different article where the grabbed article can be placed. Atthis time, information on the article at the placement location andinformation on the space near the placement location where the grabbedarticle can be placed can be obtained by making reference to theenvironment management server 101.

Now, referring to FIG. 38, a description will be made of an example ofthe determination as to “whether or not a different article exists at aplacement location” and an example of the change of the placementlocation. FIG. 38 shows an example in which when a plurality of stackedbooks 61 are already present at the designated placement location, theplacement location for a grabbed book 60 is changed. In this example,“whether or not a different article is present at the placementlocation” is determined by whether or not the grabbed article 60overlaps the already placed articles 61 when the center of the gravityof the grabbed article 60 is aligned over the placement location (seeFIG. 38B). It is most desirable that “a location near the placementlocation where the grabbed article can be placed” be a location wherethe grabbed article 60 does not overlap the different articles 61 atall, but “a location near the placement location where the grabbedarticle can be placed” is not limited to such a location. For example,depending on the type of article, even if the placed article 60 overlapsor is in contact with the different articles 61 to such an extent thatthe placed article 60 does not lose its posture (fall down), suchoverlapping or contact may be considered allowable. In the example shownin FIG. 38, the article is a book, and therefore, even if the book isstacked to such a degree that the book does not lose its posture, therewill be no problem. FIG. 38 thus shows an example of such a case. Asshown in FIGS. 38A and 38B, assume a case in which the placementlocation (the center of gravity of the book 60) is set slightlyoutwardly of a number of stacked books 61. In this case, if the book 60is placed at the placement location, the stack of the books 61 willcollapse and the book 60 itself will become unstable and fall down.Therefore, in this case, the placement location is changed to theposition of the center of gravity of the stacked books 61. Details ofthis operation will be also described later.

The grabbing element 112 is means for grabbing an article. In thisembodiment, as shown in FIG. 36, the grabbing element 112 is composed ofan articulated arm 201 and a hand 202 disposed at the head of the arm201. Nevertheless, the holding means of the laborer robot 102 is notlimited to means for grabbing an article. For example, the laborer robot102 may be equipped with supporting means having a plate-like shape andmay be designed so as to travel to a destination location with anarticle put on that supporting means.

The controller 115 of the laborer robot 102 interprets a robot handlingcommand list transmitted from outside through the transceiver 109 andsuccessively executes the commands. Operation of the controller 115 ofthe laborer robot 102 will be described in detail, as will be thecontroller 110 of the environment management server 101.

Structure of Console Terminal

In the article management system 100, the consol terminal 103, i.e., thethird sub-system, is a device used by a user to give an instruction forhandling of an article in an environment.

As shown in FIG. 29, the console terminal 103 includes, as its basiccomponents, a designation device 142, a display 143, a transceiver 109,and a controller 144. The designation device 142 is used to give aninstruction for handling of an article. The display 143 displays anoperation screen. The transceiver 109 performs send/receive operation,such as sending, to the environment management server 101, of thecontent of an article-handling instruction input by the designationdevice 142. The controller 144 controls these components.

An operator gives an instruction for a transfer of an article or inputsinformation about an article or a mobile existence by using thedesignation device 142 and the display 143. In the case of a transfer ofan article, the article transfer instruction input through thedesignation device 142 is sent to the laborer robot 102 via thetransceiver 109. Upon receipt of the instruction, the laborer robot 102,taking the circumstances of the transfer destination into account,transfers the article in accordance with the instruction. Also, wheninformation on an article or a mobile existence has been input or anarticle has been retrieved through the designation device 142, thisrequest is sent to the environment management server 101 and a responseis received from the environment management server 101. The controller144 controls the above-mentioned components, and the operation of thecontroller 144 will be described in detail later.

In the foregoing, the entire structure of the article management system100 has been described by giving descriptions of the respectivesub-systems 101, 102, and 103 in this order.

In the example shown in FIG. 29, the article management system 100 iscomposed of three sub-systems: the environment management server 101,the laborer robot 102, and the console terminal 103, and is configuredso that these sub-systems exchange information among them via a wirelessor wired network. However, the structure of the article managementsystem of the present invention is not limited to the above. For examplethe article management system 100 may have a structure in which theconsole terminal 103 is mounted on the environment management server 101or the laborer robot 102. Also, the article management system 100 is notlimited to the structure having a single robot 102 but may have astructure having a plurality of robots so that they concurrently performindividual works while cooperating with each other. Alternatively, thearticle management system 100 may have a structure in which not thelaborer robot 102 but the environment management server 101 includes thetravel plan generator 113, the placement posture determination section140, and the placement location determination section 141, whereby it ispossible to reduce the amount of traffic associated with databaseaccess.

Operation of Article Management System

Below, a description will be made of the operation of the articlemanagement system 100, that is, it will be described how the controllers110, 115 and 144 of the sub-systems, i.e., the environment managementserver 101, the laborer robot 102 and the console terminal 103, operate.

In this embodiment, for the sake of consistency, the environmentmanagement server 101, the laborer robot 102, and the console terminal103 all make requests for an instruction, a query, a response, and thelike by exchanging messages described below.

FIG. 39 shows an example of the form of such a message. From the toprow, the items included in this example are: message start code (STX);message length; total packet count; packet number; sent date and time;message ID; source; destination; command number; parameter; and messageend code (ETX). When UDP/IP or the like for packet communications isused as communications protocol, data does not necessarily arrive at thedestination on a packet-by-packet basis. Therefore, the receiving partthat has received the divided portions of the packets reconstructs thoseportions to obtain the message by using the total packet count and thepacket number. Also, the message length and the total packet count areused to confirm that all the packets have been received, so that themessage can be sent/received correctly.

Further, an ACK message or a NACK message, which indicates whether ornot the message has been received, is sent back to the source. FIG. 40shows an example of the ACK/NACK message. The message ID indicated byNumber 6 is made equal to the message ID of a received message, wherebythe source that has received the ACK or NACK message can know to whichmessage sent by the source the received ACK or NACK message has beensent back. When all the packets have been received to obtain themessage, the ACK message is sent back to the source. When it seems thata trouble has occurred in the communications, such as a failure toreceive all the packets within a certain time period, an error code issubstituted in the item indicated by Number 10 and a NACK message issent back to the source. The source waits for an ACK or NACK message fora certain period of time. If neither message is sent back within thatperiod of time, the source resends the message. If, even after thesource has resent the message several times, neither an ACK message nora NACK message is sent back, it is determined that a communication errorhas occurred, resulting in a measure such as a system shutdown, forexample.

Below, it will be described how messages used in common by thesub-systems are sent/received and processed. Then, for each sub-system,its inherent structure, a concrete message, and its operation performedwhen that message is received will be described.

FIG. 41 shows a message processing configuration 1300 used in common bythe respective controllers 110, 115, and 118 in the environmentmanagement server 101, the laborer robot 102, and the console terminal103. The configuration 1300 includes a message receiving part 1301, amessage queue 1302, and a message handler 1304. The message receivingpart 1301 reconstructs, as a message, packets input from the transceiver109. The message queue 1302 stores therein the reconstructed message.The message handler 1304 retrieves messages one by one from the head ofthe message queue, interprets the retrieved message, and provide amessage processor 1303 with the message. The message receiving part 1301and the message handler 1304 may be each included as a thread program orthe like, whereby it is possible to receive a message while othermessage is processed.

FIG. 42 is a flow chart of operation for sending/receiving a message inthe configuration 1300 shown in FIG. 41. In this operation, it ischecked in step S1401 whether or not a message/messages is stored in themessage queue 1302, and if there is a stored message/messages, theuppermost massage is retrieved. In step S1402, it is determined whetheror not the retrieved message is a stop message. If it is a stop message,end processing (step S1403) is performed for a halt. The end processingherein means to stop other threads (e.g., the message receiving part1301 and the like). If the determination result in step 1402 shows thatthe message is not a stop message, the message processor 1303 carriesout processing of the message in step S1404. The message processor 1303executes operation corresponding to each component or transmits as amessage the value of an internal variable to the inquiry source (forexample, in the case of the environment management server 101, theposition of an article, mobile existence, etc. is transmitted). Sincedifferent operations are performed for the respective sub-systems, thoseoperations will be described later.

In the foregoing, the basic message exchange mechanism of thesub-systems has been described. However, messages understandable by themessage processor 1303 in the message handler 1304 shown in FIG. 41 andthe actions that the message processor 1303 performs according to themessages are different for the respective subsystems, i.e., theenvironment management server 101, the laborer robot 102, and theconsole terminal 103. Therefore, a specific task will be taken up, andin line with that specific task, the process configuration of thecontroller in each subsystem will be discussed, and then the operationof each controller performed to process a message will be described.

As a specific task, an example in which an operator causes an article(e.g., an empty can) to be transferred to a designated location (e.g., awastebasket) will be described.

First, the operation of the controller 144 in the console terminal 103will be described. FIG. 43 shows the process configuration of thecontroller 144 in the console terminal 103. The controller 144 in theconsole terminal 103 includes, in addition to the common componentsdescribed above, a handling message generator 1501 and a displaycontroller 1502. The handling message generator 1501 generates a messagecorresponding to a handling instruction input from the designationdevice 142. The display controller 1502 obtains the latest environmentinformation (such as an image of a room, the position of an article, orthe like) and then displays the information on the display 143. Thehandling message generator 1501 generates a message, corresponding to ahandling instruction from the operator, in the above-described messageformat, and stores the message in the message queue 1302. The displaycontroller 1502 always makes reference to the environment managementserver 101 for the environment information and displays the environmentinformation as visual information on the display 143. The operator givesa handling instruction such as a transfer of an article using thedesignation device 142 (e.g., a pointing device such as a mouse, a touchpanel, or a tablet), while referring to the display 143. In thisexample, a GUI is used as the designation device 142, but an audio I/F(interface) using voice recognition/synthesis, a keyboard I/F, or thelike may be used. The handling message generator 1501, like the messagereceiving part 1301, is executed as a thread program simultaneously withother threads, and is thus always capable of receiving a handlinginstruction from the operator.

When the console terminal 103 is turned on, it carries outinitialization only once immediately after the turn-on. Thisinitialization includes, e.g., establishment of a communication channelwith the other sub-systems, execution of each thread program, and thelike.

Specifically, when an operator inputs an instruction into thedesignation device 142, the handling message generator 1501 stores amessage including the instruction in the message queue 1302. FIG. 44shows an example of an instruction input in which the operator inputs aninstruction to transfer an article (an empty can) from the floor(coordinates: X0, Y0, Z0) to a wastebasket (coordinates: X1, Y1, Z1) bya drag and drop operation using a mouse while referring to the display143. FIG. 45 shows an example of a message generated in the handlingmessage generator 1501 in this case. The items indicated by Numbers 1 to6 and 11 in FIG. 45 are necessary to correctly receive any message.However, they are independent of the content of the message, anddescriptions thereof will be thus omitted herein. FIG. 45 shows amessage for sending a command (an article transfer command “01” for therobot) from the source (“PO” indicating the operator) to the destination(“I0” indicating the console terminal). The item indicated by Number 10,Parameter, means to transfer a single (the first term “001” means thenumber of articles to be transferred) article (an article at acoordinate point (X0, Y0, Z0)) to a location of a coordinate point (X1,Y1, Z1). When a plurality of articles are transferred, the currentlocation and the destination are put in this order for each article.

FIG. 46 is a flow chart of the processing of the message processor 1303in the console terminal 103. The message handler 1304 fetches onemessage from the message queue 1302, and then in step S1801, the messagehandler 1304 determines whether the content of the message is aninstruction to the laborer robot 102. And in step S1802, the messagehandler 1304 divides the instruction into task units. In this step, theinstruction for “a transfer of an article” is divided into four taskunits. The four task units are “travel (to the location of thearticle)”, “grabbing (of the article)”, “travel (to the transferdestination location)”, and “placement”, and these four task units makea single set Therefore, when an instruction to transfer a plurality ofarticles is given, a single set of task units is put for each article.In step 51803, it is determined whether or not there is a task unit tobe executed next. In step S1804, one task unit is transmitted to thelaborer robot 102.

FIG. 47 shows an example of a message for sending one task unit to thelaborer robot 102. The exemplary message means to send a command (arobot travel command “01”) from the source (“I0” indicating the consoleterminal) to the destination (“R0” indicating the laborer robot). Theparameter indicated by Number 10, which is a coordinate point (X0, Y0,Z0), indicates the transfer destination location.

Next, in step S1805, the message processor 1303 receives the end state(an ACK or NACK message) of the task unit from the laborer robot 102. Instep S1806, the message processor 1303 determines whether or not thetask unit has been completed as intended. If the message processor 1303receives a NACK message, or if no message is sent back within a certaintime period, the message processor 1303 carries out error processing (instep S1807). The error processing is processing in which, in the case oftrouble, for example, when an obstacle or the like has prevented thelaborer robot 102 from moving or when the laborer robot 102 has failedto grab the designated article, the occurrence of trouble is presentedto the operator through the GUI. In this processing, if there is anaudio I/F, the occurrence of trouble may be presented by voice. And theflow returns to the step S1803, and if there is no task unit to beprocessed, the operation of the message processor is ended and a nextmessage is fetched from the message queue 1302 to perform processing ofthat message.

Although in this example the task units are sent one by one, the articlemanagement system 100 may be configured so that all the task units aresent at a time and that the laborer robot confirms the completion ofeach task unit.

Next, a description will be made of the operation of the controller 115of the laborer robot 102. FIG. 48 shows the process configuration of thecontroller 115 of the laborer robot 102.

When the laborer robot 102 is turned on, it carries out initializationonly once immediately after the turn-on. This initialization includes,e.g., establishment of a communication channel, execution of each threadprogram, and the like. The message receiving part 1301 receives theabove-mentioned task unit-containing message (see FIG. 47) transmittedfrom the console terminal 103 through the transceiver 109 and stores themessage in the message queue 1302. FIG. 49 shows examples of messagesthat the laborer robot 102 can understand.

FIG. 50 is a flow chart of the processing of the message processor 1303in the laborer robot 102. An example of messages input to the messageprocessor 1303 is a task unit-containing massage transmitted from theconsole terminal 103. In this processing, first of all, it is determinedin steps S2201, S2202 and S2203 what type the task unit is. Then,processing is carried out in accordance with the task unit type.

If it is determined in step S2201 that the task unit is “travel”, theflow proceeds to step S2204 in which the path to the designated locationis calculated using the travel plan generator 113. Then, in step S2205,a control command to travel according to the path obtained by the travelplan generator 113 is sent to the travel device 114 and the traveldevice 114 executes the processing of travel to the designated location.When the laborer robot 102 receives, for example, the message shown inFIG. 47, the above processing flow is carried out.

If it is determined in step S2202 that the task unit is “grab”, the flowproceeds to step S2206, in which the posture of the article is sensedusing the above-described sensor (for example, a camera) 111 for thegrabbing of the article, and in step S2207, the motions of the arm 201and the hand 202 are calculated. Then, in step S2208, a command to grabthe article is sent to the grabbing element 112 and the grabbing element112 grabs the article. Although in this example the posture of thearticle is sensed using the sensor in step S2206, the posture of thearticle may be recognized by referring to the environment managementserver 101. The information about the current posture of the article isrecorded in the article history data (see FIG. 31).

If it is determined in step S2203 that the task unit is “placement”, theplacement posture of the article is calculated using the placementposture determination section 140 (in step S2209). Then, thecircumstances of the placement location for the article are checkedusing the placement location determination section 141, and if it isdetermined that the article cannot be placed at the placement location,a suitable placement location is found (in step S2210). Then, themotions of the arm 201 and the hand 202 are calculated to accommodatethe placement posture and the placement location (in step S2211) and acontrol command to actuate the arm 201 and the hand 202 is issued toplace the grabbed article in place (step S2212)

Finally, in step S2213, a message of the completion of travel, grabbing,and placement is sent to the instruction source (the console terminal).

One feature of the present invention resides in a processing performedwhen the message processor 1303 in the laborer robot 102 receives aplacement message. Specifically, in the article management system 100,the placement posture determination section 140 and the placementlocation determination section 141 are used to appropriately change theplacement posture and the placement location in accordance with thegrabbed article and the circumstances of the placement locationtherefor. This processing significantly differs from that in the priorart that is performed in an automated warehouse in a plant.

FIG. 51 is a flow chart of normal operation of the placement posturedetermination section 140. In step S2601, the placement posturedetermination section 140 determines whether or not it is necessary todecide a placement posture. For example, if the placement location isinside a box and the grabbed article is smaller than the box, theplacement posture is not taken into consideration and, therefore, theposture of the grabbed article remains unchanged. On the other hand, ifit is determined in step S2601 that it is necessary to decide aplacement posture, the placement posture of the grabbed article iscalculated based on the circumstances of the placement location and theattribute of the grabbed article in step S2602.

FIG. 52 is a flow chart of an example of a specific operation of theplacement posture determination section 140. In this exemplaryoperation, first of all, it is determined in step S2301 whether or notthe placement location is a box (e.g., a wastebasket). This can beimplemented by referring to the environment management server 101 in theform of a message (see Command number 12 in FIG. 56). If the placementlocation is a box, the placement posture is not taken into considerationand, therefore, the posture of the grabbed article remains unchanged. Ifit is determined in step S2301 that the placement location is not a box,it is further checked in step S2302 whether or not an article, whoseattribute (e.g., the type, shape, etc. of the article) is equal orsimilar to that of the grabbed article, exists in the vicinity of theplacement location. The term “similar” herein means that the articlesare of the same kind or they are similar in shape, even if they are ofdifferent kinds, for example. And the term “being similar in shape”means that the shape parameters (in the case of a cylinder, the heightand the radius of the bottom face; in the case of a sphere, the radius;and in the case of a rectangular parallelepiped, the lengths of thethree sides (i.e., width, height, and depth)) of those articles aresimilar. Whether or not the shape parameters are similar to each othercan be determined based on, e.g., whether or not the differences betweenthe corresponding parameters are each within a certain threshold value.Such determination can be also implemented by referring to theenvironment management server 101 for the data (see Command number 23 inFIG. 56).

If an article similar to the grabbed article is present in the vicinityof the placement location, the placement posture of the grabbed articleis made similar to that of the similar article in step S2303. Theposture of the similar article can be obtained by referring to theposture data in the article history data 302. If it is determined instep S2302 that there is no article similar to the grabbed article atthe placement location, a predetermined placement posture is used (instep S2304). The predetermined placement posture is a posture suitablefor the furniture at the placement location and is determined by usingdata recorded in the furniture attribute data 906 in the environment map108 (see “the shapes and postures of main articles” in the furnitureattribute data 906 shown in FIG. 35). If such a posture is not recordedin the furniture attribute data 906 in the environment map 108, theposture of the article, in which the shape of the article was measured,is used, for example. For instance, the article is placed such that thearticle coordinates shown in FIG. 33B match the real-world coordinates.

In this manner, when an article similar to the grabbed article isalready placed in the vicinity of the designated placement location, theplacement posture of the grabbed article is made to fit in with theposture of the similar article, whereby the article can be put orderly,resulting in space saving and good looks in the house.

Next, referring to FIG. 53, normal operation of the placement locationdetermination section 141 will be described. In step S2801, it isdetermined whether or not it is allowed for the article to take acollapsed posture when placed, based on the circumstances of theplacement location and the attribute of the grabbed article. If thearticle should not take a collapsed posture after it is placed, the flowproceeds to step S2802, in which it is determined whether or not adifferent article is present at the placement location If there is adifferent article at the placement location, the flow proceeds to stepS2803, in which the placement location determination section 141 makes adetermination as to whether or not the grabbed article may be placed tooverlap the different article present at the placement location . . . Ifthe grabbed article should not overlap the different article, a newplacement location where the grabbed article can be placed is found inthe vicinity of the placement location in step S2804.

Next, referring to FIG. 54, an example of a specific operation of theplacement location determination section 141 will be described. In thisexemplary operation, it is checked in step S2401 whether the placementlocation is a box. If it is not a box, the flow proceeds to step S2402.On the other hand, the placement location is a box, the placementlocation is not changed and the flow thus gets out of the processing ofthe placement location determination section 141.

In step S2042, it is checked whether or not a different article existsat the placement location. If no different article exists, the placementlocation is also not changed in this step. Whether or not a differentarticle already exists at the placement location can be checked bysending an inquiring message (see Command number 23 in FIG. 56) to theenvironment management server 101. If there is a different article atthe placement location, the flow proceeds to step S2403, in which it isdetermined whether or not the top surface of the different article isgreater than the area required for the placement of the grabbed article.If the top surface of the different article is greater, it is determinedin step S2404 whether or not the top surface of the different article isflat. The term “flat” herein means to include not only completely flatsurfaces, but also substantially flat surfaces. Specifically, the term“flat” herein includes the state of a surface that is regarded as flatin common practice. Therefore, even a surface which is somewhat inclinedor uneven is also regarded as flat, so long as the grabbed article canbe placed on the surface. The area of the top surface of the alreadyplaced article and whether or not that top surface is flat can be knownby making reference to the environment management server 101 for theshape data and the placement posture (recorded as the article historydata) (see Command number 23 in FIG. 56).

If the top surface of the different article is flat, the grabbed articleis put on the different article without changing the placement location.If it is determined in step S2403 that the area of the top surface ofthe different article is smaller than the area required for theplacement of the grabbed article, or if it is determined in step S2404that the top surface of the different article is not flat, the flowproceeds to step S2405, in which a location where no article is placedis found in the vicinity of the placement location, and this location isdesignated as the new placement location. When it is determined in stepS2402 that no other article is placed at the placement location, whetheror not articles of the same kind or of the same shape as the grabbedarticle exist in the vicinity of the placement location may be checked,and the placement location for the grabbed article may be set next tothose articles.

In this manner, if there are other articles already placed at theplacement location, it is determined whether or not it is possible toplace the grabbed article on those already placed articles, and if it isnot possible, the placement location is changed. Therefore, even if theoperator randomly designates a placement location without knowing thecircumstances of the article-placement destination location, the robotcan cope flexibly with the real-world situations.

In the example shown in FIG. 44, since the placement location is awastebasket, the laborer robot 102 consequently drops the empty can intothe wastebasket without changing the grabbed posture of the empty can.

As another example, a case in which a book put on the floor is placed ona bookshelf will be described. In this case, when it is found, byreferring to the environment management server 101, that there are otherbooks at the placement location and that those books are articles of thesame kind as the book (i.e., the grabbed article), the posture of thegrabbed book is changed to the same posture as that of the other booksalready placed (in this case, since the books already placed on thebookshelf are accommodated in a standing posture, the posture of thegrabbed book is also changed to a standing posture), and then thegrabbed book is placed on the bookshelf. On the other hand, if there arestacked books at the placement location, the grabbed book can be placedon the stack in the same posture as the other books, so long as thegrabbed book can be placed stably in that posture. Instead of the books,if there is a television at the placement location and the top surfaceof the television is flat, the grabbed book can be placed in a stableposture, and therefore, the grabbed book is placed on the television. Ifan article whose top surface is not flat, such as a vase, exists at theplacement location, the book is not placed on the vase but in an emptyspace next to the vase.

If any trouble occurs in the laborer robot 102 during execution of atask, such as a disability to produce the designated motion, an errormessage can be transmitted to the instruction source (the consoleterminal 103 in this example) to halt the task at any timing.

In this embodiment, the laborer robot 102 usually measures its ownposition using the amount of movement of its wheels (the number ofrotations, the angle of rotation, etc.) However, the actual position ofthe laborer robot 102 may not match the self-measured position owing toa slip between the floor and the wheels or an unavoidable collision withan obstacle. To compensate for such a position mismatch, the robot canperiodically make reference to the environment management server 101 forits own position. Further, when an article is grabbed after its name isspecified, the attribute of the article, such as shape, can bepreviously retrieved and then used as a clue to find the designatedarticle from among articles before a sensor, such as a camera. In thesemanners, the environment management server 101 may be made reference tofor the attribute of the article, the position of the laborer robot 102or the environment map 108 necessary for the travel plan generator 113,as needed. Such a reference can also be implemented by sending aninquiring message to the environment management server 101 and receivinga response to it therefrom.

Lastly, a description will be made of the operation of the controller110 in the environment management server 101. FIG. 55 shows the processconfiguration of the controller 110 in the environment management server101.

When the environment management server 101 is turned on, it carries outinitialization only once immediately after the turn-on. Thisinitialization includes, e.g., establishment of a communication channeland execution of each thread program. The environment management server101 receives a message containing an inquiry from the laborer robot 102or the console terminal 103 through the transceiver 109, and the messagereceiving part 1301 stores the message in the message queue 1302. FIG.56 shows examples of messages understandable by the environmentmanagement server 101.

FIG. 57 is a flow chart of the processing of the message processor 1303in the environment management server 101. In this processing, theforefront message is fetched from the message queue 1302 and input intothe message processor 1303. And in steps S2701, S2702, S2703, S2704, andS2705, it is determined what is requested by this message.

In step S2701, if it is determined that there has been a query about thelocation of the robot, information on the robot location is retrievedfrom the article/mobile existence database 106 and the robot location istransmitted to the querying source (in step S2705). In step S2702, if itis determined that there has been a query about a map, the map isretrieved from the environment map 108 and sent to the querying source(in step S2706). The map information is used to find a path for thelaborer robot 102, for example. In step S2703, if it is determined thatthe message is a query about environment information, information on thedesignated location is retrieved from the environment map 108 (in stepS2707) and sent to the querying source (in step S2708). In step S2704,if it is determined that the message is a query about information on anarticle, necessary information on the designated article is retrievedfrom the article/mobile existence database 106 (in step S2709) and sentto the querying source (step S2710). In step S2705, if it is determinedthat the message requests registration of information on an articleobtained by the laborer robot 102 and the like in the article/mobileexistence database 106, the attribute value of the designated article isregistered in the article/mobile existence database 106 (in step S2711).

In the above processing, the queries to, and the informationregistration in, the article/mobile existence database 106 and theenvironment map 108 are performed through the article/mobile existencesearch and management section 105 and the environment map managementsection 107. The sensing unit 120 always senses the latest information.In the article/mobile existence database 106 and the environment map108, information is always updated through the article/mobile existencesearch and management section 105 and the environment map managementsection 107.

In the foregoing, the configuration and operation of the articlemanagement system 100 according to embodiment 4 of the present inventionhas been described.

According to the article management system 100 of this embodiment, inusing a laborer robot in a life space such as a house or an office totransport an article, the laborer robot can place any articles in anorganized manner without causing collapse of the articles. Further, evenin the case of an ambiguous instruction, the robot can place the articlein an appropriate state. For example, when the robot places a book on abookshelf, it places the book in a standing posture; when the placementlocation is a wastebasket, the robot drops the article withoutconsidering the posture of the article; and when the placement locationis a so-called dish washer, the robot places a dish in a predeterminedposture. In these manners, the robot can place any article in anappropriate state in accordance with the relationship between thedesignated placement location and the article.

Effects of the Invention

According to the present invention, in using a laborer robot totransport an article in a life space, the placement posture of thearticle to be transported is determined with consideration given toother articles and circumstances in the vicinity of the placementlocation. This allows articles to be placed in an appropriate state; forexample, articles of the same kind or of the same shape can be arrangedin an orderly manner. This also enables suitable placement in whichrelationship between the article and the placement location has beentaken into account.

Moreover, according to the present invention, if there is a differentarticle already placed at the designated placement location, or if atransfer subject article cannot be placed at the designated placementlocation, the placement location is changed to allocation near thedesignated location. Also, when the transfer subject article can beplaced on the different article, the transfer subject article is placedon the different article without changing the placement location.Therefore, even if a placement location for an article is designatedwithout knowing the details of circumstances of the placement location,the robot can perform the placement processing appropriately, allowingthe article to be placed in an appropriate state.

Embodiment 5)

An object of this embodiment of the present invention is to cause alaborer robot to smoothly move a transfer subject article in a lifespace, such as a house or an office, without re-holding it.

To attain the above object, a system for managing an article existing ina life space according to the present invention comprises: a designationdevice for designating a transfer subject article and a placementlocation which is a destination of the transfer subject article; alaborer robot having a holder for holding an article, the laborer robotholding the transfer subject article in the holder to place the transfersubject article at the placement location; a database containinginformation about an article in the life space and map information ofthe life space; and a holding position determination section fordetermining, based on information about the transfer subject article andthe placement location which are stored in the database, a holdingposition of the transfer subject article held by the holder to be aposition at which the laborer robot places the transfer subject articleat the placement location without re-holding the transfer subjectarticle.

According to the above system, the holding position of the transfersubject article is previously determined to be an appropriate positionbased on the information about the transfer subject article and theplacement location stored in the database. Therefore, the laborer robotcan place the transfer subject article at the placement location withoutre-holding it.

Further, a system for managing an article existing in a life spaceaccording to the present invention comprises: a database containing atleast information about an article in the life space; the aforesaiddesignation device; the aforesaid laborer robot; and a holding positiondetermination section for selecting a contact region in which thetransfer subject article is in contact with the placement location anddetermining a holding position of the transfer subject article held bythe holder to be a position at which the holder places the transfersubject article at the placement location such that the holder neitheroverlaps the contact region nor re-holds the transfer subject article,based on information about the transfer subject article stored in thedatabase.

According to the above system, the holding position of the transfersubject article is previously determined to be an appropriate positionat which the holder does not overlap the contact region, based on theinformation about the transfer subject article stored in the database.Therefore, the laborer robot can place the transfer subject article atthe placement location without re-holding it.

Furthermore, a system for managing an article existing in a life spaceaccording to the present invention comprises: the aforesaid designationdevice; the aforesaid laborer robot; a database containing informationabout an article in the life space, information about an operationalconstraint to the laborer robot and map information of the life space;and a holding position determination section for determining, based oninformation about the operational constraint to the laborer robot andinformation about the transfer subject article and the placementlocation which are stored in the database, a holding position of thetransfer subject article held by the holder to be a position at whichthe laborer robot places the transfer subject article at the placementlocation without re-holding the transfer subject article.

According to the above system, the holding position of the transfersubject article is previously determined to be an appropriate positionbased on the information about the operational constraint to the laborerrobot and the information about the transfer subject article and theplacement location which are stored in the database. Therefore, thelaborer robot can place the transfer subject article at the placementlocation without re-holding it.

In the above systems, the holder of the laborer robot need only have afunction of holding an article and there is no specific limit to itsholding manner. Various means can be used as a holder, including meansfor grabbing an article, means for supporting an article, means forholding an article by suction and means for holding an article by amagnetic or electric force.

The life space means a space in which humans and articles exist whilethe formers are associated with the latters, such as a house or anoffice.

Specifically, a first aspect of this embodiment is directed to a systemfor managing an article existing in a life space and the systemcomprises: a designation device for designating a transfer subjectarticle and a placement location which is a destination of the transfersubject article; a laborer robot having a holder for holding an article,the laborer robot holding the transfer subject article in the holder toplace the transfer subject article at the placement location; a databasecontaining information about an article in the life space and mapinformation of the life space; and a holding position determinationsection for determining, based on information about the transfer subjectarticle and the placement location which are stored in the database, aholding position of the transfer subject article held by the holder tobe a position at which the laborer robot places the transfer subjectarticle at the placement location without re-holding the transfersubject article.

In a second aspect of this embodiment, the holding positiondetermination section in the first aspect selects a contact region inwhich the transfer subject article is in contact with the placementlocation and determines the holding position such that the holder doesnot overlap the contact region based on information about the transfersubject article and the placement location which are stored in thedatabase before the holder holds the transfer subject article.

In a third aspect of this embodiment, the holding position determinationsection in the second aspect checks an available space at the placementlocation based on information about the placement location which iscontained in the database and selects the contact region such that atleast the transfer subject article is accommodated within the availablespace.

In a fourth aspect of this embodiment, the holding positiondetermination section in the second aspect checks an available space atthe placement location based on information about the placement locationwhich is contained in the database and selects the contact region suchthat the transfer subject article is accommodated within the availablespace excluding a space necessary for a placement operation of theholder.

In a fifth aspect of this embodiment, the holding position determinationsection in the first aspect determines whether a placement locationdesignated as the transfer destination is inside or outside a box, andif the placement location is inside the box, the holding positiondetermination section determines the holding position without selectinga contact region of the transfer subject article.

In a sixth aspect of this embodiment, the article existing in the lifespace in the first aspect includes a specific article which hashuman-grasp part and human-nongrasp part, the holding positiondetermination section determines whether or not the transfer subjectarticle is the specific article and the placement location is a human,and if the transfer subject article is the specific article and theplacement location is a human, the holding position determinationsection selects the human-nongrasp part as the holding position.

A seventh aspect of this embodiment is directed to a system for managingan article existing in a life space and the system comprises: a databasecontaining at least information about an article in the life space; adesignation device for designating a transfer subject article and aplacement location which is a destination of the transfer subjectarticle; a laborer robot having a holder for holding an article, thelaborer robot holding the transfer subject article in the holder toplace the transfer subject article at the placement location; and aholding position determination section for selecting a contact region inwhich the transfer subject article is in contact with the placementlocation and determining a holding position of the transfer subjectarticle held by the holder to be a position at which the holder placesthe transfer subject article at the placement location such that theholder neither overlaps the contact region nor re-holds the transfersubject article, based on information about the transfer subject articlestored in the database.

An eighth aspect of this embodiment is directed to a system for managingan article existing in a life space and the system comprises: adesignation device for designating a transfer subject article and aplacement location which is a destination of the transfer subjectarticle; a laborer robot having a holder for holding an article, thelaborer robot holding the transfer subject article in the holder toplace the transfer subject article at the placement location; a databasecontaining information about an article in the life space, informationabout an operational constraint to the laborer robot and map informationof the life space; and a holding position determination section fordetermining, based on information about the operational constraint tothe laborer robot and information about the transfer subject article andthe placement location which are stored in the database, a holdingposition of the transfer subject article held by the holder to be aposition at which the laborer robot places the transfer subject articleat the placement location without re-holding the transfer subjectarticle.

Embodiment 5 of the present invention also relates to an articlemanagement system for managing an article existing in a life space. Adetailed description will not be given here to overlaps with theabove-mentioned fourth or other embodiments.

FIG. 58 is a block diagram showing an exemplary general structure of thearticle management system 100 according to this embodiment. In FIG. 58,the same components as described in the first embodiment referring toFIG. 2 are indicated by the same reference numerals as in FIG. 2.

First, a description will be made of geometric data of an article inthis embodiment. FIG. 60A shows the original shape (cylinder) of anarticle (a drink can). When such an article is measured usingstereoscopic three-dimensional measurement technique or the like,polygon data can be obtained in which one surface of the article isapproximated by a plurality of surfaces as shown in FIG. 60B. Eachsurface is described as a set of vertex coordinates in an appropriatelyselected reference coordinate system for the article. Each surface isgiven some attributes. Specifically, the attributes include a flag aboutwhether that surface is suitable as a contact surface with a surface onwhich the article will be placed and a flag about whether that surfaceserves as a surface normally used by a human to grasp the article.Examples of the surface suitable as a contact surface include a cupbottom and the bottom of a juice can. Examples of the surface normallyused by a human to grasp the article include a cutting tool handle and acup handle. These attributes, like other attributes, are given by manualinput or otherwise when data on the article is input. As can be seen,articles existing in the life space include a specific article formed ofhuman-grasp part grasped by a human and human-nongrasp part not graspedby the human.

For example, data on a particular surface in a triangular polygon isexpressed as follows:

(PID, x1′, y1′, z1′, x2′, y2′, z2′, x3′, y3′, z3′, 1, 0)

In the above data, the first term “PID” indicates the number of theparticular surface (the number uniquely determined by the data on thearticle). The next nine values indicate the locations of three verticesof that surface in the reference coordinate system. The further nextvalue “1” indicates that the surface is suitable as a contact surface.If the surface is not suitable as a contact surface, the value isassigned to “0”. The last value “0” indicates that the surface does notserve as a surface normally used by a human to grasp. If the surfaceserves as a surface normally used by a human to grasp, the value isassigned to “1”.

The posture data on an article is the same as in the fourth embodimentand, therefore, a description will not be given here thereto.

Next, a description will be made of a database for dealing with a mobileexistence (see FIG. 59). The database for dealing with a mobileexistence is composed of three sub-databases: a sub-database containingmobile existence data 601, a sub-database containing mobile existencehistory data 602 and a sub-database containing mobile existenceattribute data 603. The contents of the data of the above three typesare as follows.

A single set of mobile existence data 601 is composed of an ID for usein identifying an individual mobile existence and a pointer to a singleset of mobile existence history data 602 containing a history of motionsof the particular mobile existence.

A single set of mobile existence history data 602 is composed of times,locations of the mobile existence at the above times and states of themobile existence at the above times. The location of the mobileexistence at one time is expressed by three values including coordinates(X, Y) in a surface and a direction r.

A single set of mobile existence attribute data 603 contains informationabout inherent physical attributes of the particular mobile existence.FIG. 59 shows as exemplary physical attributes the weight and geometryof the particular mobile existence.

In the mobile existence history data 602, the state of the mobileexistence indicates, if the mobile existence is a human, a normal humanaction such as “sit”, “stand”, “lie” or “walk” and, if it is a robot,handling that the robot can perform on an article, such as “grab” or“release”. Possible states of each mobile existence may be previouslydefined and one of the states may be selected later. If the mobileexistence is a robot, the state is expressed, not by the handling detailonly, but by a combination of the ID of the article to be handled andthe handling detail.

For example, if the mobile existence is a laborer robot, a single recordset of mobile existence attribute data 603 thereon contains the weightand geometry of the laborer robot and information about the occupiedspace of the grabbing element (part of information about constraints tothe motion of the laborer robot). The information about the occupiedspace of the grabbing element means information about a space occupiedby the grabbing element itself and required to grab the article.

FIG. 61 is a view illustrating a space occupied by a grabbing element112 of a laborer robot when it grabs an article 701. Possible methodsfor grabbing the article 701 in this example include a method forgrabbing the article 701 from above and a method for grabbing it fromsideways. When the article 701 is grabbed from above, there is a need toallow for an occupied height 702 extending above from the grabbedarticle 701 for a distance of a and lateral occupied regions 703extending laterally from the article 702 and corresponding to twice alength of b (the thickness of the robot hand). On the other hand, whenthe article 701 is grabbed from sideways, there is a need to allow foronly the lateral occupied regions 703 corresponding to twice a length ofb.

As described later, one of functions of the article management system100 of this embodiment is the function of previously determining thegrabbing positions on an article in consideration of circumstances of atarget placement location such that, when the robot 102 transfers thegrabbed article to the target placement location, there is no need tore-hold the grabbed article. To exhibit this function, it is necessaryto know in advance, for example, how large space exists at thedesignated placement location and it is desirable to store informationabout the article in the database, such as where and in what posture thearticle is being placed. Nevertheless, retrospective history data is notnecessarily needed but it suffices to always obtain the latestinformation. In an example described below, however, not only the latestinformation but also histories of an article and a mobile existence arerecorded.

An example of data update for the article/mobile existence database 106is as described in the first embodiment.

<Environment Map>

The environment map is composed of structural information on immobileobjects that normally hardly move, such as a room and furniture. Thestructural information means regional information on a placement surfacewhich exists at feast inside of a space occupied by the immobile objectand on top of the immobile object and on which another object can beplaced and to the height of a space upwardly of the placement surface ofthe immobile object. Examples of the placement surface on which anotherobject can be placed include, if the immobile object is a room, a floorand, if it is a storage space, a shelf. An example of the regionalinformation on the placement surface is vertices of the circumscribedpolygon of the placement surface.

Note that the height of a space upwardly of the placement surface meansthe distance in a direction substantially orthogonal to the placementsurface and does not exactly mean only the vertical distance from theplacement surface.

An example of the environment map data, the environment map managementsection and the controller of the environment management server are thesame as in the fourth embodiment and, therefore, a description will notbe given here thereto.

Structure of Laborer Robot

The structure of the laborer robot is also substantially the same as inthe above-mentioned fourth or other embodiments but is different fromthe fourth embodiment in that the laborer robot includes, instead of theplacement posture determination section 140 and the placement locationdetermination section 141, a grabbing position determination section 150for determining the grabbing positions on an article grabbed by thegrabbing element 112 (a more specific form of the holder) or a holdingposition determination section if not the grabbing element 112 but amore general holder is used.

The grabbing position determination section 150 makes reference to theenvironment management server 101 for information about the article tobe grabbed and information about the designated placement location anddetermines, based on the reference results, the grabbing positions onthe article to be grabbed by the grabbing element 112 such that thegrabbing element 112 can place the grabbed article at the placementlocation without re-holding it.

Further, the grabbing position determination section 150 previouslyselects a contact region in which a transfer subject article will be incontact with the placement location before the grabbing element 112grabs the transfer subject article, and then determines the grabbingpositions such that the grabbing element 112 does not overlap thecontact region.

In doing so, the grabbing position determination section 150 makesreference to the environment management server 101 for the availablespace at the designated placement location and selects as the contactregion a contact region in which at least the transfer subject articlecan be accommodated within the available space. Here, “space” means atwo-dimensional region, height, or a three-dimensional space defined bya two-dimensional region and a height, and the available space at theplacement location means, if the particular space is a box-shaped space,the product of the area of a region on which the article can be placedand the height of the space upwardly of the region.

Preferably, the grabbing position determination section 150 makesreference to the environment management server 101 for the availablearea at the designated placement location and selects as the contactregion a contact region having a smaller area than the available area.More preferably, the grabbing position determination section 150selects, in consideration of the occupied area of the grabbing element112 itself when placing the article, a contact region having a smallerarea than the available area excluding the area necessary for thegrabbing element 112 (the area on the placement surface required for theplacement operation).

Preferably, the grabbing position determination section 150 makesreference to the environment management server 101 for the availableheight at the designated placement location and selects as the contactregion such a contact region that the transfer subject article whenplaced has a height equal to or smaller than the available height. Morepreferably, the grabbing position determination section 150 selects, inconsideration of the occupied height of the grabbing element 112 itselfwhen placing the article, a contact region on which the transfer subjectarticle when placed has a height equal to or smaller than the availableheight excluding the height necessary for the grabbing element 112 (theheight required for the placement operation).

The operation details of the grabbing position determination section 150will be described later.

The example of the article management system 100 shown in FIG. 58 iscomposed of three sub-systems: the environment management server 101,the laborer robot 102 and the console terminal 103, and is configured sothat these sub-systems exchange information among them via a wireless orwired network. The structure of the article management system of thepresent invention, however, is not limited to the above. For example,the article management system may have a structure in which the consoleterminal 103 is mounted on the environment management server 101 or thelaborer robot 102. Further, the article management system 100 is notlimited to the structure having a single robot 102 but may be astructure having a plurality of robots so that they concurrently performindividual works while cooperating with each other. Alternatively, thearticle management system 100 may have a structure in which not thelaborer robot 102 but the environment management server 101 includes thetravel plan generator 113 and the grabbing position determinationsection 150 and transmits calculation results of these sections to thelaborer robot 102.

Operation of Article Management System

Below, a description will be made of the operation of the articlemanagement system 100, i.e., how the controllers 110, 115 and 144 of thesub-systems, i.e., the environment management server 101, the laborerrobot 102 and the console terminal 103, operate.

The basic information exchange mechanisms of the sub-systems are thesame as in the fourth embodiment and, therefore, detailed descriptionswill not be given here to them.

Instead, a specific task of transferring a book onto a bookshelf will bedescribed here as an example of a task of transferring an articledesignated by an operator to a designated location. In this connection,when a plurality of rows of bookshelves exist, the article managementsystem can designate on what number bookshelf an article should beplaced through the operation of the console terminal 103.

The process configuration of the controller 144 of the consol terminal103 is the same as shown in the fourth embodiment with reference to FIG.43.

Specifically, when an operator inputs an instruction into thedesignation device 142, the handling message generator 1501 stores amessage including the instruction in the message queue 1302. FIG. 62shows an example of an instruction input in which the operator inputs aninstruction to transfer an article (book) from the floor (coordinates:X0, Y0, Z0) to a bookshelf (coordinates: X1, Y1, Z1) by a drag and dropoperation using a mouse while referring to the display 143. FIG. 63shows an example of a message generated in the handling messagegenerator 1501 in this case. The items indicated by Number 1 to 6 and 11in the figure are necessary to correctly receive any message. However,they are independent of the content of the message and, therefore, adescription will not be given here to them. This table shows a messagefor sending a command (an article transfer command “01” for the robot)from the source (“P0” indicating the operator) to the destination (“I0”indicating the console terminal). The item indicated by Number 10,Parameter, means to transfer a single (the first term “001” means thenumber of articles to be transferred) article (an article at acoordinate point (X0, Y0, Z0)) to a location of a coordinate point (X1,Y1, Z1). When a plurality of articles are transferred, the currentlocation and the destination are put in this order for each article.

The processing flow of the message processor 1303 in the consoleterminal 103 is the same as shown in the fourth embodiment referring toFIG. 46, and an example of a message when a single task unit istransmitted from the console terminal 103 to the laborer robot 102 is asshown in FIG. 47.

Next, a description will be made of the operation of the controller 115of the laborer robot 102. FIG. 64 shows the process configuration of thecontroller 115 of the laborer robot 102.

When the laborer robot 102 is turned on, it carries out initializationonly once immediately after the turn-on. This initialization includes,for example, establishment of a communication channel and execution ofeach program thread. The message receiving part 1301 receives theabove-mentioned task unit-containing message (see FIG. 47) transmittedfrom the console terminal 103 through the transceiver 109 and stores themessage in the message queue 1302. FIG. 65 shows examples of messagesthat can be understood by the laborer robot 102.

FIG. 66 is a flow chart of the processing of the message processor 1303in the laborer robot 102. An example of messages input to the messageprocessor 1303 is a task unit-containing massage transmitted from theconsole terminal 103. In this processing, first of all, it is determinedin steps S2401, S2402 and S2403 what type the task unit is. Then,processing is carried out according to the task unit type.

If it is determined in step S2401 that the task unit is “travel”, theflow proceeds to step S2404 in which the path to the designated locationis calculated using the travel plan generator 113. Next, in step S2405,a control command to travel according to the path calculated by thetravel plan generator 113 is sent to the travel device 114 and thetravel device 114 executes the processing of travel to the designatedlocation. When the laborer robot 102 receives, for example, the messageshown in FIG. 47, the above processing flow is carried out.

If it is determined in step S2402 that the task unit is “grab”, the flowproceeds to step S2406 in which the posture of the article is sensedusing the sensor (e.g., camera) 111 in order to grab it. Then, in stepS2407, the grabbing positions on the article are calculated. In doingso, the placement posture of the article is expected according to thecircumstances of the placement location and, then, the grabbingpositions are determined to positions suitable to place the article inthe expected placement posture. The expected placement posture of thearticle is stored in a memory or the like and used for latercalculations of motions of the arm 201 and the hand 202 during thebelow-described placement task unit (see step S2411 in FIG. 66). Next,in step S2408, the motions of the arm 201 and the hand 202 arecalculated. Then, in step S2409, a command to grab the article is sentto the grabbing element 112 and the grabbing element 112 grabs thearticle. Though in this example the posture of the article is sensedusing the sensor in step S2406, the posture of the article may berecognized by referring to the environment management server 101. Theinformation about the current posture of the article is recorded in thearticle history data (see FIG. 6).

If it is determined in step S2403 that the task unit is “placement”, themotions of the arm 201 and the hand 202 are calculated to accommodatethe placement posture stored in the memory during the grabbing task unitor the designated placement posture (step S2410) and a control commandto actuate the arm 201 and the hand 202 is issued to place the grabbedarticle in place (step S2411).

Finally, in step S2412, a message of the completion of travel, grabbingand placement is transmitted to the instruction source (consoleterminal).

One of features of the present invention lies in a processing when themessage processor 1303 in the laborer robot 102 receives a grabbingmessage. This processing is different from that in the known art thatrequires re-holding. In the article management system 100 of thisembodiment, the grabbing positions on an article to be grabbed iscalculated using the grabbing position determination section 150according to the circumstances of the placement location for the articleand the article is transferred without the need to re-hold it.

FIG. 67 is a flow chart showing the operation of the grabbing positiondetermination section 150. In this operation, first, it is determined instep S2501 whether the placement location is inside a box. This can beimplemented by referring to the environment management server 101 in theform of a message (see Command number 12 in FIG. 71). If the placementlocation is inside a box, the placement posture is not taken intoconsideration and, therefore, the grabbing positions are also notparticularly limited. Thus, in step S2502, arbitrary grabbable parts areselected as grabbing positions. The method for finding grabbingpositions will be described later.

On the other hand, if the placement location is not inside a box, theflow proceeds to step S2503 in which it is determined whether theplacement location is a location at which a human exists. In otherwords, it is determined whether the transfer subject article is passedto a human. The existence or absence of a human at the placementlocation can be known by referring to the article/mobile existencedatabase 106. If the placement location is a location at which a humanexists, the flow proceeds to step S2504, in which parts of the articlenot held by a human are selected as grabbing positions. Part of thearticle held by a human can be known by referring to the geometry dataor the like in the article/mobile existence database 106, as describedabove. If the determination in step S2503 shows that the placementlocation is not a location at which a human exists, the flow proceeds tostep S2505, in which information about the shape of the available regionat the placement location and the height of a space upwardly thereof(available height) is obtained.

The available region at the placement location can be known by referringto the environment map 108 and the article/mobile existence database106. FIG. 68 is a diagram illustrating a method for determining theavailable space at the placement location. Specifically, informationabout the environment map 108 (see FIG. 35) is obtained from theenvironment management server 101, information about the positions,shapes and postures of the article and the mobile existence (not shown)is obtained from the article/mobile existence database 106, and theregion in which the article and mobile existence exist is projected fromabove on the environment map (see FIG. 68) modeled in plan. As a result,an available region 2603 (the hatched region in FIG. 68) can be obtainedas a region in which nothing is projected on the environment map. Since,however, the available region 2603 is limited to a flat surface havingthe same X coordinate value as the placement location, the area on afurniture piece 2604 having a different height and the area on themobile existence (not shown) are excluded from the available region inthe case of FIG. 68. Further, the height of a space at the placementlocation (the distance between two adjacent bookshelves in this example)can be obtained from the furniture data 1105 on the environment map. Asdescribed above, the surfaces forming each furniture piece areaccompanied with information about the height of a space upwardlythereof.

In the above manner, the available region at the placement location andthe height of a space upwardly thereof can be known in step S2505. Next,in step S2506, information about the occupied space of the grabbingelement 112 is obtained from the attribute data on the laborer robot102.

Finally, in step S2507, the grabbing positions on the transfer subjectarticle are determined such that the transfer subject article fallswithin the shape of the available region at the placement location andthe height of the space upwardly thereof. Specifically, first, search ismade for candidates for a contact surface of the article which can fallwithin the shape of the available region at the placement location.Since, actually, the grabbing element 112 requires its own occupiedregion (for example, when grabbing an article from sideways), candidatesfor a contact surface of the article are searched for in considerationof the occupied region of the grabbing element 112. For example,candidates for a contact surface of the article are searched for, basedon the above information about the occupied space obtained in stepS2506, such that they can fall within a shape obtained by narrowing thewidth of the available region by a distance twice the thickness b (seeFIG. 61) of the robot hand 202.

As described above, the geometry of the article is stored as a polygonmodel in the article attribute data 303. Therefore, candidates for acontact surface can be known using a flag added to each surface(polygon). Needless to say, all the surfaces of the article may beselected as candidates for a contact surface.

Next, it is determined whether the height of the article when eachcandidate for a contact surface contacts the placement location fallswithin the height of a space upwardly of the available region at theplacement location, and any contact surface candidate not falling withinthe above height is excluded from the candidates. Then, the posture ofthe article when each remaining contact surface candidate contacts theavailable region at the placement location is expected and positionsthat allow the grabbing element to place the article in the expectedposture without laboring are selected as the grabbing positions.

In this example, one or more predetermined pairs of surfaces of anarticle are previously defined as grabbing surfaces for each contactsurface and the centers of gravity of each pair of surfaces are definedas the grabbing positions on the article grabbed by the robot hand 202.FIG. 69A is a table showing the relation between contact surface andgrabbing surfaces using an article 2800 shown in FIG. 69B as an example.For example, if the surface A1 is a contact surface, five pairs arepossible: (A3, A8), (A4, A9), (A5, A10), (A6, A11) and (A7, A12). Thegrabbing positions can be determined by referring to such a table. Inthis example, a plurality of pairs of grabbing positions exist for eachcontact surface. For example, out of these pairs of grabbing positions,one pair of grabbing positions may be selected which has a smalldistance between the two opposed surfaces and does not change theposture of the hand 202 as much as possible.

Further, on the assumption that the designated placement location wouldbe surrounded by another article, each article is principally grabbedfrom above the placement posture. If, however, the length obtained bysumming the height of the article when placed and the occupied height ofa space upwardly of the grabbing element 112 obtained from theinformation about the occupied space exceeds the height of a spaceupwardly of the placement location, the article is preferably grabbedfrom sideways of the placement posture.

In this example, the contact region (surface) is selected such that thetransfer subject article can fall within a space satisfying both theavailable region and the available height at the placement location. Thecontact region (surface), however, may be selected such that thetransfer subject article can fall within either the available region andthe available height.

By grabbing each article in consideration of the circumstances of theplacement location and an expected placement posture of the article inthe above manner, the article can be transported smoothly without theneed to re-hold it.

According to the article management system 100 of this embodiment, anarticle is grabbed in consideration of an expected placement posture ofthe article, which avoids the grabbing element 112 overlapping thecontact surface. Consequently, the article can be smoothly transportedwithout re-holding it. As an example, in carrying a book casually put onsomewhere to a bookshelf and arranging it thereon together with theother books, the robot grabs the book, in consideration of the shelfheight, such that the book can fall within the shelf height. Therefore,the book can be arranged on the bookshelf together with the other bookswithout re-holding it. As another example, in passing a cutting tool,such as scissors or a kitchen knife, to a person, the robot grabs notpart of the cutting tool held by the person (e.g., the haft of a kitchenknife) but the blade thereof. Therefore, such an article can be passedto a person with safety and user-friendliness without the need tore-hold it.

If any trouble occurs in the laborer robot 102 during execution of atask, such as a disability to produce the designated motion, an errormessage can be transmitted to the instruction source (the consoleterminal 103 in this example) to halt the task at any timing.

In this embodiment, the laborer robot 102 usually measures its ownposition using the amount of movement of its wheels (the number ofrotations, the angle of rotation or the like). However, the actualposition of the laborer robot 102 may not match the self-measuredposition owing to a slip between the floor and the wheels or anunavoidable collision with an obstacle. To compensate for such aposition mismatch, the robot can periodically make reference to theenvironment management server 101 for its own position. Further, when anarticle is grabbed after its name is specified, the attribute of thearticle, such as geometry, can be previously retrieved and then used asa clue to find the designated article from among articles before asensor such as a camera. In these manners, the environment managementserver 101 may be made reference to for the attribute of the article,the position of the laborer robot 102 or the environment map 108necessary for the travel plan generator 113, as needed. Such a referencecan be implemented by sending a query message to the environmentmanagement server 101 and receiving a response to it therefrom.

The operation of the controller 110 of the environment management server101 is the same as in the fourth embodiment and, therefore, thedescription thereof will not be given here.

Up to this point, we have described the configuration and operation ofthe article management system 100 according to embodiment 5 of thepresent invention.

According to the article management system 110 of this embodiment, inusing a laborer robot in a life space such as a house or an office totransport an article, the laborer robot can grab an article of any shapeand any type without re-holding it, which provides an efficient and safetransportation of the article.

Effects of the Invention

According to a system for managing an article existing in a life spaceof this embodiment of the invention, there is no need to re-hold thetransfer subject article in using a laborer robot to transfer thearticle, thereby providing a smooth transfer of the article. Theelimination of the need to re-hold the transfer subject articlesimplifies the structure of the holder of the laborer robot.Furthermore, this system can reduce the inconvenience of the operatorspecifying the posture of the article when grabbed or placed.

(Embodiment 6)

Herein, an objective of the present invention is to provide anon-industrial article handling system for instructing a robot toexecute a task of handling an article in a life space in which humanbeings take an action, such as an ordinary house, office, hotel, store,hospital, or the like, which facilitates designation of details of atask which is assigned to a robot and allows every user to easilyoperate the robot.

An article handling system of the present invention represents a systemfor handling an article which exists in a predetermined life space. Thissystem comprises: a robot for handling the article; an input section forinputting a task instruction including a subject article for a task ofthe robot and a transfer destination of the subject article; and a taskplan generator for generating a task plan according to the taskinstruction, wherein the task plan generator generates a task plan fortransfer of the subject article to the transfer destination by the robotwhile supplementing a task at the transfer destination.

With this configuration, the task instruction input by the input sectionincludes the subject article for the task of the robot and the transferdestination of the subject article.

Upon receipt of the task instruction, the task plan generator generatesthe task plan for transfer of the subject article to the transferdestination by the robot while supplementing a task at the transferdestination.

More particularly, when a user designates a task of “transferring asubject article to a desired destination”, the task plan generatorgenerates a task plan in which the robot transfers the article to thetransfer destination. Thus, the task of transferring a subject articledesignated by the user to the designated transfer destination isexecuted by the robot. Since in this case the task plan generatorgenerates a task plan supplementarily including the task at the transferdestination, the user does not need to additionally designate a task inview of the transfer destination of the article. This facilitatesdesignation of a task which is assigned to the robot and allows everyuser to easily operate the robot.

The transfer destination may include an appliance having anaccommodation section in which an article is accommodated. When thetransfer destination included in the task instruction is the appliancehaving the accommodation section, the task plan generator may add, tothe task plan, an operation of the appliance which is necessary foraccommodating an article in the accommodation section. Herein,“appliances” include objects which are placed in a life space and havespecific functions associated with articles. The appliances hereininclude, for example, household electrical appliances and casefurniture. A refrigerator that is one of the household electricalappliances has functions of accommodating articles and cooling thearticles. A microwave oven that is one of the household electricalappliances has functions of accommodating articles and heating thearticles. Furthermore, case furniture has a function of accommodatingarticles.

The subject article may include an article accommodated in anaccommodation section of an appliance. When the subject article includedin the task instruction is an article accommodated in the accommodationsection, the task plan generator may add, to the task plan, an operationof the appliance that is necessary for taking an article out of theaccommodation section.

The accommodation section of the appliance may be provided with a door,and the task plan generator may add the opening/closing operations ofthe door to the task plan.

The transfer destination may include an appliance exerting an action onan article. When the transfer destination included in the taskinstruction is the appliance exerting an action on a subject article,the task plan generator may add an operation of the appliance forexerting an action on the subject article to the task plan.

In this case, the task plan generator may select an action correspondingto the subject article from a plurality of actions and add an operationof the appliance for exerting the selected action on the subject articleto the task plan.

Upon receipt of the task plan, the appliance may execute an operation ofthe appliance included in the task plan.

The system may further include a notification section for notifying thetask plan generated by the task plan generator before the robot startsexecuting the task.

The system may further include a space management database for managingthe conditions in a life space. The task plan generator should generatea task plan with reference to the space management database.

Another article handling system of the present invention is a system forhandling an article existing in a predetermined life space.

This system comprises: a robot for handling the article; an inputsection for inputting a task instruction including a subject article fora task of the robot and a transfer destination of the subject article;and a task plan generator for generating a task plan according to thetask instruction, wherein the task plan generator generates a task planfor transfer of the subject article included in the task instruction tothe transfer destination by the robot while supplementing a taskcorresponding to the conditions before the transfer of the subjectarticle.

Still another article handling system of the present invention is asystem for handling an article existing in a predetermined life space.

This system comprises: a robot for handling the article; an operationdatabase in which details of an operation of an appliance existing inthe life space are accumulated; an input section for inputting a taskinstruction including a subject article for a task of the robot and atransfer destination of the subject article; and a task plan generatorfor generating a task plan for allowing the robot to transfer thesubject article included in the task instruction to the transferdestination according to the task instruction with reference to theoperation database.

An article handling server of the present invention is a server forhandling an article which exists in a predetermined life space.

The article handling server comprises a task plan generator forgenerating a task plan for a robot which handles the article accordingto a task instruction including a subject article for a task of therobot and a transfer destination of the subject article, wherein thetask plan generator generates a task plan for transfer of the subjectarticle included in the task instruction to the transfer destination bythe robot while supplementing a task at the transfer destination.

Another article handling server of the present invention comprises atask plan generator for generating a task plan for a robot which handlesthe article according to a task instruction including a subject articlefor a task of the robot and a transfer destination of the subjectarticle, wherein the task plan generator generates a task plan fortransfer of the subject article to the transfer destination by the robotwhile supplementing a task corresponding to the conditions before thetransfer of the subject article.

Still another article handling server of the present invention comprisesa task plan generator for generating a task plan for allowing the robotto transfer the subject article included in the task instruction to thetransfer destination according to a task instruction including a subjectarticle for a task of the robot and a transfer destination of thesubject article with reference to an operation database in which detailsof an operation of an appliance existing in the life space areaccumulated.

In other words, according to a first aspect of the present invention,there is provided a system for handling an article which exists in apredetermined life space, comprising: a robot for handling the article;an input section for inputting a task instruction including a subjectarticle for a task of the robot and a transfer destination of thesubject article; and a task plan generator for generating a task planaccording to the task instruction, wherein the task plan generatorgenerates a task plan for transfer of the subject article to thetransfer destination by the robot while supplementing a task at thetransfer destination.

According to a second aspect of the present invention, in the articlehandling system of the first aspect, the transfer destination includesan appliance having an accommodation section in which an article isaccommodated, and when the transfer destination included in the taskinstruction is the appliance having the accommodation section, the taskplan generator adds, to the task plan, an operation of the appliancewhich is necessary for accommodating an article in the accommodationsection.

According to a third aspect of the present invention, in the articlehandling system of the first aspect, the subject article includes anarticle accommodated in an accommodation section of an appliance, andwhen the subject article included in the task instruction is an articleaccommodated in the accommodation section, the task plan generator adds,to the task plan, an operation of the appliance that is necessary fortaking an article out of the accommodation section.

According to a fourth aspect of the present invention, in the articlehandling system of the second or third aspect, the accommodation sectionof the appliance is provided with a door, and the task plan generatoradds the opening/closing operations of the door to the task plan.

According to a fifth aspect of the present invention, in the articlehandling system of the first aspect, the transfer destination includesan appliance exerting an action on an article, and when the transferdestination included in the task instruction is the appliance exertingan action on a subject article, the task plan generator adds anoperation of the appliance for exerting an action on the subject articleto the task plan.

According to a sixth aspect of the present invention, in the articlehandling system of the fifth aspect, the task plan generator selects anaction corresponding to the subject article from a plurality of actionsand add an operation of the appliance for exerting the selected actionon the subject article to the task plan.

According to a seventh aspect of the present invention, in the articlehandling system of any one of the second through sixth aspects, uponreceipt of the task plan, the appliance executes an operation of theappliance included in the task plan.

According to an eighth aspect of the present invention, the articlehandling system of any one of the first through sixth aspects furtherincludes a notification section for notifying the task plan generated bythe task plan generator before the robot starts executing the taskaccording to the task details.

According to a ninth aspect of the present invention, the articlehandling system of any one of the first through sixth aspects furtherincludes a space management database for managing the conditions in alife space, and the task plan generator generates a task plan withreference to the space management database.

According to a tenth aspect of the present invention, there is provideda system for handling an article existing in a predetermined life space,comprising: a robot for handling the article; an input section forinputting a task instruction including a subject article for a task ofthe robot and a transfer destination of the subject article; and a taskplan generator for generating a task plan according to the taskinstruction, wherein the task plan generator generates a task plan fortransfer of the subject article included in the task instruction to thetransfer destination by the robot while supplementing a taskcorresponding to the conditions before the transfer of the subjectarticle.

According to an eleventh aspect of the present invention, there isprovided a system for handling an article existing in a predeterminedlife space, comprising: a robot for handling the article; an operationdatabase in which details of an operation of an appliance existing inthe life space are accumulated; an input section for inputting a taskinstruction including a subject article for a task of the robot and atransfer destination of the subject article; and a task plan generatorfor generating a task plan for allowing the robot to transfer thesubject article included in the task instruction to the transferdestination according to the task instruction with reference to theoperation database.

According to a twelfth aspect of the present invention, there isprovided a server for handling an article which exists in apredetermined life space, comprising a task plan generator forgenerating a task plan for a robot which handles the article accordingto a task instruction including a subject article for a task of therobot and a transfer destination of the subject article, wherein thetask plan generator generates a task plan for transfer of the subjectarticle included in the task instruction to the transfer destination bythe robot while supplementing a task at the transfer destination.

According to a thirteenth aspect of the present invention, there isprovided a server for handling an article which exists in apredetermined life space, comprising a task plan generator forgenerating a task plan for a robot which handles the article accordingto a task instruction including a subject article for a task of therobot and a transfer destination of the subject article, wherein thetask plan generator generates a task plan for transfer of the subjectarticle included in the task instruction to the transfer destination bythe robot while supplementing a task corresponding to the conditionsbefore the transfer of the subject article.

According to a fourteenth aspect of the present invention, there isprovided a server for handling an article in a predetermined life space,comprising a task plan generator for generating a task plan for allowingthe robot to transfer the subject article included in the taskinstruction to the transfer destination according to a task instructionincluding a subject article for a task of the robot and a transferdestination of the subject article with reference to an operationdatabase in which details of an operation of an appliance existing inthe life space are accumulated.

Embodiment 6 of the present invention is directed to an article handlingsystem for instructing a laborer robot to transfer an article existingin life space. According to the pre-sent embodiment, a certain room in ageneral residential construction is considered as target space of thearticle handling system (hereinafter the space is referred to asenvironment).

FIG. 70 is a block diagram showing an exemplary structure of the wholearticle handling system according to this embodiment. In FIG. 70, thesame reference numerals are given to the same components as in FIG. 2 ofthe first embodiment. As shown in FIG. 70, roughly explaining, thissystem is formed by four subsystems, an environment management server101 (hereinafter, sometimes abbreviated simply as server), a laborerrobot 102 (hereinafter, sometimes abbreviated simply as robot), aconsole terminal 103, and an appliance 104. These fourth subsystems 101through 104 are connected through a wireless or wired network to oneanother and configured to exchange information with one another overthis network.

The four subsystems 101 through 104 each have a controller 110, 115,119, 162 and a transceiver 109. Herein, the same reference numeral 109is given to the respective transceivers of the subsystems 101 through104, because the transceivers 109 perform a common operation.

A sensing unit 120 is identical with that in the first embodiment, and adescription is not given in this embodiment.

<Structure of Environment Management Server>

The environment management server 101 serving as the first subsystemincludes an article/mobile existence retrieval and management section105, an article/mobile existence database 106, an environment mapmanagement section 107, an environment map 108, a transceiver 109, and acontroller 110. The article/mobile existence retrieval and managementsection 105 manages the conditions of articles (that can be handled bythe robot 102) and mobile existences (which principally handle articles,such as persons and the robot 102) in the environment among theconditions grasped by the sensing unit 120. The article/mobile existencedatabase 106 stores data about the articles and mobile existences. Theenvironment map management section 107 manages the conditions of theentire environment excluding the articles and mobile existences. Theenvironment map 108 stores data about the entire environment. Thetransceiver 109 receives a query (signal) about the data of thearticle/mobile existence database 106 and the data of the environmentmap 108 from outside and transmits a reply signal to the query to theoutside. The controller 110 controls the sensing unit 120, thearticle/mobile existence retrieval and management section 105, theenvironment map management section 107, and the transceiver 109.

The article/mobile existence retrieval and management section 105accumulate, in the article/mobile existence database 106, informationabout articles and mobile existences existing in the environment whichis detected by the sensing unit 120 and entered by the user. Theinformation accumulated in the article/mobile existence database 106includes at least the current locations of articles and mobileexistences.

When a query is issued from the outside of the environment managementserver 101 through the transceiver 109 and the controller 110 to thearticle/mobile existence database 106, the article/mobile existenceretrieval and management section 105 retrieves information necessary inview of the query from the article/mobile existence database 106 andalso transmits the retrieved information to the controller 110. Thisallows a user to retrieve the current location of an article from theinformation accumulated in the article/mobile existence database 106 byentering, into a console terminal 103, a search keyword for morespecificity about the attribute of an article, e.g., the date, the typeof the article, etc.

Furthermore, when requests for registration/update of information aboutarticles are issued from a robot 102 and console terminal 103 which willbe described later to the server 101, the article/mobile existenceretrieval and management section 105 registers the information about thearticles in the article/mobile existence database 106 and updates thearticle/mobile existence database 106.

Only the article/mobile existence retrieval and management section 150obtains access to the article/mobile existence database 106. Thisprevents identical data from being updated and read from thearticle/mobile existence database 106 at the same time in this system.

The article/mobile existence database 106 of the environment managementserver 101 is a database in which information about articles and mobileexistences is accumulated and includes an article database 106 a (FIG.71) about articles and a (unshown) mobile existence database aboutmobile existences.

The article database 106 a is configured to have the following fiveattributes for each of articles.

1) Article IDs

The article IDs are IDs for distinguishing articles and assigned toarticles, respectively. In other words, different IDs are assigned tophysically different articles even if they are of the same type. Thereason for this is that these articles are treated as differentarticles.

2) Article Names

The article names are names representing the types of articles. Unlikethe article IDs, even if there exist a plurality of articles of the sametype in the environment, the same name is assigned to the articles ofthe same type.

3) Times

The times are the latest times at which articles were handled by mobileexistences (persons and the robot 102).

4) Locations

The locations are the locations to which articles were most recentlytransferred (the current locations of articles). The locations arespecified by the IDs in the environment attribute data 602 or applianceattribute data 603 registered in a later-described environment map 108.Furthermore, when it is difficult or impossible to specify a spatiallocation of an article by only the ID of the article, the spatiallocation of the article is specified by adding a coordinate value (aworld coordinate system shown in FIG. 76) indicating the currentlocation of the article to the ID. When an article is currently locatedinside an appliance, such as a “refrigerating compartment” or a “freezercompartment” (the current location of the article is included in thelater-described appliance attribute data 603), it can be specified onlyby an ID indicating the “refrigerating compartment” or the “freezercompartment” that the article exists in the refrigerating or freezercompartment, resulting in the specified spatial location of the article.This eliminates the need for adding a coordinate value to the ID of thearticle (In the drawings, “Freezer_(—)0001”). On the other hand, when anarticle is currently located, for example, on the “floor” (the currentlocation of the article is included in the later-described environmentattribute data 602), it is difficult or impossible to specify thespatial location of the article only by an ID indicating the “floor”.The reason for this is that the floor is relatively wide. In this case,the spatial location of the article can be specified by adding acoordinate value to the ID thereof (in the drawings, “floor_(—)0001 (x1,y1, 0)”). A judgment about whether or not a coordinate value is to beadded to the ID of an article is preferably made not only on the basisof whether the current location of an article is included in theenvironment attribute data 602 or the appliance attribute data 603 butalso in view of the performance of the robot 102 that will handle thearticles. For example, even when an article is accommodated in arefrigerating compartment and the current location of the article can bespecified by an ID indicating the refrigerating compartment, itscoordinate value is preferably added to the ID in the following case:for example, the robot 102 has a very low performance and thus requiresthe exact coordinate value of the article in the refrigeratingcompartment to grab the article.

It is preferable that initial settings of the current locations ofarticles in the article database 106 a and updates of the currentlocations thereof in the transfer of the articles are executed asautomatically as possible based on results detected by the sensing unit120. However, when they cannot be executed automatically, they may beexecuted manually.

5) Article Images

The article images are images showing articles.

Although in this embodiment the article database 106 a has fiveattributes to distinguish the features of articles, it may have otherattributes as necessary. For example, when the article database 106 ahas data about three-dimensional geometries of articles, more accuratelocation data of the articles, and posture data of the articles, therobot 102 can more easily execute the operation of grabbing the articlesby utilizing the data.

Next, update of the article database 106 a will be specificallydescribed with reference to FIGS. 71 through 74. FIGS. 73 and 74 areillustrations showing the state of the interior of a target of thissystem, i.e., the environment, and are different in time from eachother. FIG. 73 shows the state of the interior of the environment onOct. 10, 2002, at 9:00, and FIG. 74 shows the state of the interior ofthe environment on Oct. 10, 2002, at 20:00. The article database 106 ashown in FIG. 71 corresponds to the environment at the time shown inFIG. 73. The article database 106 a shown in FIG. 72 corresponds to theenvironment at the time shown in FIG. 74.

Seven articles, i.e., a juice can, a lunch pack, a notebook, a banana, apaper trash, an ice cream, and a Popsicle, are registered, as articlesexisting in the environment on Oct. 10, 2002, at 9:00, in the articledatabase 106 a shown in FIG. 71. Out of these articles, five articles,the juice can (D-0001), the lunch pack (F-0001), the notebook (S-0001),the banana (F-0002), and the paper trash (O-0001) are placed on thefloor in the environment as shown in FIG. 73. Therefore, the locationattributes of these five articles in the article database 106 a arerepresented as “floor_(—)0001” that is an ID of the “floor”.Simultaneously, the ID additionally includes a coordinate valuecorresponding to the current location of each article. On the otherhand, the other two articles, the ice cream and the Popsicle, areaccommodated in a freezer compartment although not specifically shown inFIG. 73. Therefore, the location attributes of these two articles in thearticle database are represented as “Freezer_(—)0001” that is the ID ofthe “freezer compartment”. This ID does not additionally include anycoordinate value.

Assume that, on Oct. 10, 2002 at 10:00, a robot 102 executed a task ofcleaning up or throwing away articles, more specifically, a juice can, alunch pack, a notebook, a banana, and a paper trash, which are placed onthe floor according to the user's instruction (the task executed by therobot 102 according to the user's instruction will be described later indetail) and the user ate the ice cream and the Popsicle in the freezercompartment. In this case, the state of the interior of the environmentvaried as shown in FIG. 74. Furthermore, as shown in FIG. 72, fivearticles, i.e., the juice can, the lunch pack, the notebook, the banana,and the paper trash, are registered, as articles existing in theenvironment on Oct. 10, 2002, at 20:00, in the article database 106 a.Among these articles, the juice can was transferred to a wastebasket(recycle basket) by the robot 102. Therefore, the location attribute ofthe juice can has changed to “wastebasket_(—)0002” representing arecycle basket. Likewise, the location attributes of the lunch pack andthe banana have changed to “refrigerator_(—)0001” representing arefrigerating compartment, the location attribute of the notebook haschanged to “table_(—)0001” representing a table, and the locationattribute of a paper trash has changed to “wastebasket_(—)0001”representing a general wastebasket.

On the other hand, the ice cream and Popsicle that were eaten by theuser and thus disappeared from the interior of the environment aredeleted from the article database 106 a. Such a deletion of an articlefrom the article database 106 a may be executed by the user entering thedisappearance of the article or may be automatically executed bydetermining whether or not the article disappeared based on anelectronic tag attached to the article. To be specific, a reader/writerfor electronic tags is attached to the wastebasket and detects the entryof the electronic tag attached to an article into the wastebasket. Thearticle to which the electronic tag is attached is deleted from thearticle database 106 a based on the above detection. In this way, thedeletion of the article from the article database 106 a can beautomatically carried out.

As described in the above example, articles that may substantiallydisappear from the real world, typified by food, may be deleted from thearticle database 106 a at the time when the articles disappear.Alternatively, while an article of this type is left in the articledatabase 106 a without being deleted from the article database 106 a,not the ID of an appliance or a location in the environment but a mobileexistence that causes the article to disappear may be described in thelocation attribute of the article in the article database 106 a (forexample, when an article was eaten and thus disappeared, the ID of aperson who ate the article may be described therein).

As seen from the above, the article database 106 a is updated by anarticle/mobile existence retrieval and management section 105 in everytransfer and disappearance of each article in the environment. Thisallows registration of latest information in the article database 106 aall the times.

Although not shown, a mobile existence database is configured to have atleast the IDs of mobile existences, the names thereof, the times, andthe location attributes thereof. Furthermore, the mobile existencedatabase is also updated according to the state of the interior of theenvironment by the article/mobile existence retrieval and managementsection 105. This allows registration of latest information in themobile existence database all the times.

An environment map management section 107 of an environment managementserver 101 creates an environment map 108 for accumulating data aboutthe whole environment based on information from a sensing unit 120 andinformation entered by the user and manages the created environment map108.

Furthermore, when a query is issued from the controller 110 to theenvironment map 108, the environment map management section 107retrieves information necessary in view of the query from theenvironment map 108 and transmits the retrieved information to thecontroller 110.

As described above, the environment map 108 is utilized not only torefer to the IDs indicating appliances or locations in the environmentbut also when the robot 102 travels in the environment. The robot 102acquires the environment map 108 from the server 101 to make a transferroute plan.

The environment map 108 may be created (as shown in FIG. 75( b)) bysimplifying real conditions in the environment in the form of a cubicmodel, for example, when the real conditions in the environment areshown in FIG. 75( a). Alternatively, as shown in FIG. 75( c), theenvironment map 108 may be a map obtained by simplifying the realconditions in the environment in the form of a planar model. Otherwise,a cubic model of a real-life environment as shown in FIG. 75( a) may beused as the environment map 108. In other words, the environment map 108may be created in consideration of its purpose and time (efforts)required for creation. For example, when it is necessary to create anenvironment map of a cubic model within a very short period of time, acubic object existing in the environment is modeled by the minimumrectangular parallelepiped which covers the object. The environment map108 shown in FIG. 75( b) is used as an example, and in FIG. 75( b), atable is modeled by a rectangular parallelepiped. This procedure alsoapplies to an environment map of a planar model. In FIG. 75( c), thetable is modeled by a rectangular region (hatched region) orthogonallyprojected on a plane. This region is set as a region in which the robot102 cannot travel.

FIG. 76 is a diagram illustrating an example of data of the environmentmap 108. The illustrated data correspond to the environment shown inFIG. 75. The data in the environment map 108 include the following threedata: environment data 601 listing the IDs of floor faces included inthe environment and the IDs of appliances 104 existing in theenvironment; environment attribute data 602; and appliance attributedata 603.

If the environment has a plurality of floor faces at different levels, anumber of floor face data pieces equal to the number of floor faces areregistered (floor_(—)0001, floor_(—)0002, . . . ).

The appliance attribute data 602 represent detailed data about theenvironment (room) and are accumulated for each floor face registered inthe environment data 601. The environment attribute data 602 includecoordinate values at the corners of the floor face (representingreal-world coordinates in which the level of the lowest floor face inthe room is considered as 0) and data indicating the type of the floorface. When the shape of the floor face is rectangular, the environmentattribute data are expressed as follows:

((X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), (X4, Y4, Z4), 0).

Herein, the first four sets of coordinate values represent coordinatesat the corners of the floor face. The last value “0” means the type ofthe floor face. For example, “0” means wood floor, “1” means tatamifloor (Japanese traditional mat), and “2” means carpet.

The appliance attribute data 603 are detailed data about appliances 104existing in the environment (room). The appliances 104 herein aredifferent from articles to be transferred by persons or the robot 102and are not usually transferred. For example, furniture and householdelectrical appliances are considered as the appliances herein. Eachappliance 104 serves as one of subsystems of the article handling systemand will be described later in detail.

As shown in FIG. 75, since there exist a table (table_(—)0001), arefrigerating compartment (Refrigerator_(—)0001), a freezer compartment(Freezer_(—)0001), wastebaskets (wastebasket_(—)0001,wastebasket_(—)0002), and a microwave oven (Microwave oven_(—)0001) inthe environment, the IDs of the above-listed appliances are registeredin the environment data 601 as shown in FIG. 76. Detailed data abouteach appliance are registered in the environment data 601 shown in FIG.76. In this relation, although a “refrigerating compartment” and a“freezer compartment” are combined in one unit to form one“refrigerator”, appliances are distinguished from one another in unitsof locations in which articles are accommodated. In other words, arefrigerating compartment and a freezer compartment are treated asindependent appliances without treating a refrigerator as one appliance104.

In the appliance attribute data 603, data relating to faces forming anappliance 104 (face 1, face 2, . . . ) and the type of the appliance 104are registered. The data relating to the faces forming the appliance 104include coordinate values at the corners of each face (real-worldcoordinates) and a flag indicative of whether or not an article isplaceable on the face. For example, when the number of the corners ofeach face is four, data relating to the face are expressed as follows:

((X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), (X4, Y4, Z4), 1).

Herein, the first four sets of coordinate values represent coordinatevalues (real-world coordinates) at the corners of the face. Thesubsequent value “1” is a flag indicative of whether or not an articleis placeable on the face. For example, “1” means that an article isplaceable on the face, and “0” means unplaceable thereon. Although theidentification flag does not usually change, the identification flagsfor some types of appliances 104 are changed according to conditions.For example, when an appliance has an accommodation section provided, atits opening, with a door, the identification flag indicating a face inthe accommodation section is changed according to the opening/closingoperations of the door.

This will be described in detail with reference to FIG. 77. A freezercompartment 71 shown in FIG. 77 is used as an example of an appliance104 forming an accommodation section having a door at its opening. FIG.77( a) shows appliance attribute data when a door 72 of the freezercompartment 71 is closed. As shown in FIG. 77( a), when the door 72 ofthe freezer compartment 71 is closed, the door 72 prevents articles frombeing placed on a face in the freezer compartment 71. In this case, theidentification flag of the appliance attribute data indicates “0”. Onthe other hand, FIG. 77( b) shows appliance attribute data when the door72 of the freezer compartment 71 is opened. As shown in FIG. 77B, whenthe door 72 of the freezer compartment 71 is opened, an article can beplaced on the face in the freezer compartment 71. In this case, theidentification flag of the appliance attribute data is changed to “1”.

Like the freezer compartment 71 shown in FIG. 77, each of appliances 104having an accommodation section may include a tray 73. This tray 73moves between its location in which it is accommodated in theaccommodation section and its location in which it projects toward theoutside of the accommodation section according to the opening/closingoperations of the door 72. The use of the tray 73 facilitates theexecution of the task of transferring an article into and from theappliance 104 by the robot 102. As shown in FIG. 77( b), when theappliance 104 has such a tray 73, the appliance attribute data for theappliance 104 may include coordinate values indicating the edges of thetray 73 when the tray 73 projects toward the outside of theaccommodation section. This allows the robot 102 to place an article onthe tray 73 projecting toward the outside of the accommodation sectionor grab an article on the tray 73 by referring to the coordinate valuesregistered in the appliance attribute data 603. The movement of the tray73 changes the coordinate values indicating the edges thereof. However,when the door 72 is closed and thus the tray 73 is accommodated in theaccommodation section, the robot 102 does not transfer an article intoand from the accommodation section. In this case, it is not necessary tochange the coordinate values in the appliance attribute data 603 andthus only the identification flag need be changed.

A process of recognizing whether or not a face is crowded with articles(whether or not another article can be placed on the face) may beadditionally executed and the identification flag indicating the face inthe accommodation section may be changed according to the result afterthe recognition process. More particularly, since another article cannotbe additionally placed on the face crowded with articles, theidentification flag indicates “0” even when the door 72 is opened. Onthe other hand, when an article is placeable on the face that is notcrowded with articles, the identification flag is changed according tothe opening/closing operations of the door 72.

In this embodiment, only an identification flag indicating whether ornot another article is placeable on a face is added to applianceattribute data 603 for each appliance. However, another flag may beadded thereto as necessary. For example, like the environment attributedata 602, a flag indicating a material of the face may be added thereto.

A path through which an arm of the robot 102 approaches a face when therobot 102 places an article on the face or grabs an article placed onthe face (hereinafter, referred to as “arm approach path”) may be addedto the appliance attribute data 603. Furthermore, a program for the armoperation relating to the arm approach path may be added to theappliance attribute data 603 for each appliance. To be specific, thecode of the program for the arm operation of the robot 102 for eachappliance is previously registered, and the previously registeredprogram code is added to the appliance attribute data 603. The robot 102reads the program code stored in the appliance attribute data 603 over acommunications network, such as a wireless network, when necessary. Thearm of the robot 102 is controlled based on the read program. Thiseliminates the need for the robot 102 (or the server 101) to store theprogram of the arm operation for each appliance, resulting in the savedmemory capacity for storing a program.

The controller 110 is a section of the environment management server 101which controls the entire server 101, and the primary control operationsthereof are as follows:

1) When the transceiver 109 receives a query about various data in theserver 101, the controller 110 analyzes the query and issues a datareference request to the article/mobile existence retrieval andmanagement section 105 or the environment map management section 107according to the analysis result.

2) The controller 110 forwards a result transmitted from thearticle/mobile existence retrieval and management section 105 or theenvironment map management section 107 in response to the request to theorigin of the query through the transceiver 109.

3) The controller 110 interprets a request for registration/update ofthe various data in the server transmitted from outside through thetransceiver 109, and according to the requested contents, the controller110 issues the data registration/update request to the article/mobileexistence retrieval and management section 105 or the environment mapmanagement section 107.

Structure of Appliance

As described above, an appliance 104 serving as the second subsystem isplaced and fixed in the environment and is not usually transferred. Inthis embodiment, the appliance 104 mean, in particular, an appliancehaving an accommodation section for accommodating various articles.Since, for example, a refrigerating compartment and a freezercompartment have their sections for accommodating food, they areincluded in the appliance 104 in this embodiment. Furthermore, objectsacting on the articles accommodated in the objects are included in theappliance 104. For example, a microwave oven is an example of theappliance 104 exerting an action on food accommodated in the microwaveoven, more particularly, heating the food. In this embodiment,“accommodate” includes the meaning that an article is stored for arelatively long period of time and the meaning that an article istemporarily stored.

As shown in FIG. 70, the appliance 104 includes a transceiver 109 forreceiving an external appliance operation command (that will bedescribed later) and transmitting, to a source from which the applianceoperation command is transmitted, a result of an appliance operationcorresponding to the appliance operation command, an appliance operationcommand database 163 for operating the appliance 104, an operationsection 164 for executing the opening/closing operations of the door ofthe appliance 104 and operations exerting an action on articles asdescribed later, and a controller 162 for controlling the transceiver109 and the operation section 164. Although in FIG. 70 only oneappliance 104 is shown, a plurality of appliances 104 may be set up inthe environment so as to be connected to a network.

The operation section 164 executes the opening/closing operations of thedoor of the appliance 104 when the appliance 104 is, for example, arefrigerating compartment or a freezer compartment. More particularly, arefrigerating compartment or a freezer compartment of this systemautomatically opens and closes its door when it receives alater-described appliance operation command. The door is also manuallyopened and closed. When the appliance 104 is, for example, a microwaveoven, the operation section 164 opens and closes its door and heatsarticles (food) accommodated in the microwave oven.

The appliance operation command database 163 stores appliance operationcommands and corresponding procedures. These appliance operationcommands are commands for externally operating the correspondingappliance 104 by remote control. The controller 162 controls theoperation section 164 such that the operation section 164 executes theprocedures corresponding to the appliance operation commands byreferring to the appliance operation command database 163.

FIG. 78 is a diagram illustrating appliance operation commands stored inthe appliance operation command database 163 in the form of tables. Thefollowing information items described in the columns of the tables areillustrated in the left-to-right order:

-   1) appliance IDs for distinguishing appliances 104 existing in the    environment from one another;-   2) appliance operation command names for externally controlling the    corresponding appliances 104;-   3) procedures corresponding to the commands; and-   4) return values that are returned to the outside as results of    executing the procedures.    FIG. 78 illustrates appliance operation commands relating to three    appliances 104, i.e., a refrigerating compartment, a freezer    compartment and a microwave oven serving as examples of the    appliances 104, and stored in the appliance operation command    database 163.

Two commands of 1) door_open and 2) door_close are prepared as applianceoperation commands for each of the refrigerating and freezercompartments. When the transceiver 109 of the refrigerating compartmentor the freezer compartment receives an externally transmitted command ofdoor_open, the controller 162 instructs the operation section 164 toexecute a procedure of “opening the door” of the refrigeratingcompartment or the freezer compartment. When the transceiver 109receives a command of door_close, the controller 162 instructs theoperation section 164 to execute a procedure of “closing the door” ofthe refrigerating compartment or the freezer compartment.

When the procedure corresponding to each appliance operation command issuccessfully completed, the controller 162 returns Ack as a return valuethrough the transceiver 109 to the source from which the command istransmitted. When the procedure is not successfully completed, itreturns Nack as a return value to the source from which the command istransmitted.

Five commands of 1) door-open, 2) door-close, 3) warm_start, 4)warm_end, and 5) is_object are prepared as appliance operation commandsfor the microwave oven. Among these commands, the commands of door_openand door_close are the same as those for the refrigerating compartmentand the freezer compartment, and thus a description thereof is notgiven.

When a transceiver 109 of the microwave oven receives an externallytransmitted command of warm_start, the controller 162 instructs theoperation section 164 to execute a procedure of “heating food in themicrowave oven” as one of the functions of the microwave oven. In thiscase, when food (an article) has been in the microwave oven and startedbeing heated, the controller 162 returns Ack as a return value to thesource from which the command is transmitted. Otherwise, it returns Nackas a return value to the source from which the command is transmitted.

Furthermore, when the transceiver 109 receives an externally transmittedcommand of warm_end, the controller 162 instructs the operation section164 to judge whether or not heating of food in the microwave oven iscompleted. When the heating is completed, the controller 162 returnsTrue as a return value to the source from which the command istransmitted. When the heating is not completed (food is still beingheated), it returns False as a return value to the source from which thecommand is transmitted.

Moreover, when the transceiver 109 receives a command of is_object, thecontroller 162 instructs the operation section 164 to judge whether ornot an article is in the microwave oven by using an image sensor, aweight sensor, or any other sensor. When the article is in the microwaveoven, the controller 162 returns True as a return value to the sourcefrom which the command is transmitted. When the article is not in themicrowave oven, the controller 162 returns False as a return value tothe source from which the command is transmitted.

Although the appliance operation commands were described above using thethree appliances 104 as an example, necessary appliance operationcommands need be prepared according to the functions of each appliance104.

The appliance operation command database 163 need be updated asnecessary. In this case, the database 163 may be updated in the mannerin which, for example, update information is read into each appliance104 through a recording medium or in which update information is readinto the appliance 104 through a network. This permits support for aversion upgrade of the appliance operation commands. Furthermore, whenthe appliance 104 is connected to an external network, this makes itpossible to read update information into the appliance 104 through theexternal network. For example, appliance operation commands upgraded bythe manufacturer of the appliance 104 can be downloaded by the appliance104 through the external network.

Constitution of Console Terminal

The console terminal 103 serving as the third subsystem is an interfacefor the user in the present system and is a terminal that the useroperates mainly for designating a task of handling an article by therobot 102.

As shown in FIG. 70, the console terminal 103 includes, as basicelements, a display section 117 of, for example, a CRT or a liquidcrystal display for displaying a console window, an input section 116of, for example, a pointing device for designating, on the consolewindow, details of a task for the robot 102, a display controller 118for performing display control such as generation of a console window tobe displayed in the display section 117 or the like, a transceiver 109for transmitting to the robot 102 details of a task for the robot 102,which is input through the input section 116, and a controller 119 forcontrolling each of the elements 109, 116 to 118.

As the console terminal 103, a general-purpose personal computer may beemployed, for example. In this employment, the general-purpose personalcomputer can be used as the console terminal 103 by allowing thepersonal computer to read a control program for executing eachprocessing described later.

The display controller 118 generates a console window on the basis ofinformation sent from the server 101, specifically, data of imagesobtained by capturing the environment, data accumulated in thearticle/mobile existence database 106, and the environment map 108. Theconsole window thus generated by the display controller 118 is displayedin the display section 117.

FIG. 79 shows one example of the console window displayed in the displaysection 117 of the console terminal 103 in the present system, which iscomposed of a virtual space in accordance with the actual environmentalstate.

The virtual space is generated on the basis of image data captured by acamera (not shown in the drawings) installed within the environment.Accordingly, the console window shown in FIG. 79 is identical with theenvironment shown in FIG. 73 as it looks. It is noted that a camerainstall on the side wall in the environment as the sensing unit 120 maybe used as this camera.

The console window also includes a cursor (a pointer) and article iconsarranged within the virtual space correspondingly to articles existingin the environment. The console window shown in FIG. 79 includes articleicons of a juice can (D-0001), a lunch pack (F-0001), a notebook(S-0001), banana (F-0002), and paper trash (O-0001). Though appliancesexisting in the environment are displayed on the console window, theseappliances do not serve as article icons. The article icons on theconsole window are only articles handleable by the robot 102.

The user operates the input section 116 of the console terminal 103 foroperating the cursor in the console window to designate details of atask to be executed by the robot 102. Specifically, a desired articleicon and a desired location in the virtual space are designated. In theconsole window, each of the article icons can be moved within thevirtual space composing the console window by generally called adragging operation. For designating an article icon and a location inthe virtual space, the desired article icon within the virtual space isdesignated by the cursor and the designated article icon isdrag-and-dropped onto the desired location in the virtual space. Thisoperation designates the subject article for the robot 102 and thetransfer destination of the article. For example, the arrows shown inFIG. 79 indicate operation examples of drag-and-drop of the juice canicon (D-0001) onto the recycle basket in the virtual space, the lunchpack icon (F-0001) and the banana icon (F-0002) onto the refrigeratingcompartment in the virtual space, the notebook icon (S-0001) onto thetable in the virtual space, and the paper trash icon (O-0001) to thewastebasket in the virtual space.

Conversion of the above designation operation on the console window intoinstruction data of task details for the robot 102 necessitates at leastthe following two pieces of processing 1) and 2).

1) Processing for identifying regions in image data as the virtual spacecomposed of the console window with the article icons, specifying whatcorresponds to the article icon designated on the console window in theenvironment, and specifying where corresponds to the transferdestination of the article designated on the console window correspondsin the environment

2) Processing for enabling the user to designate an article accommodatedinside an appliance, which cannot be captured positively in cameraimages

First, for the former processing 1), the console window is composed asfollows. For performing the processing for identifying regions in theimage data with the article icons, the console window includes, inaddition to the above image data composing the virtual space, windowmask data which is in one-to-one correspondence with the image data (thevirtual space) and specifies the locations of the article icons in thevirtual space. The “one-to-one correspondence” herein meanscorrespondence in coordinate values with each other.

In the window mask data, mask data is set correspondingly to regionswhere the article icons are arranged on the console window. When thelocation (coordinate values) of an article icon is designated by thecursor on the console window of the virtual space, the same coordinatevalues are referred to in the window mask data to check whether or notthe designated region is an article (an article icon). The window maskdata can be generated by a background subtraction image (see FIG. 2C).Because, the background subtraction image specifies the location of anarticle in an image captured by a camera.

Next, for performing the processing for specifying what is the articleicon designated on the console window, a pointer to the article database106 a (see FIG. 71) is descried in the coordinates of the mask data inthe window mask data. By the description, the article database 106 a isreferred through the pointer described in the coordinates as a key whenan article icon is designated, thereby specifying what article isrepresented by the article icon that the cursor points on the consolewindow.

Further, for performing the processing for specifying where is thetransfer destination of the article designated on the console window,the console window includes, in addition to the image data (FIG. 79) ofthe virtual space, an image map of which coordinate values correspond tothose of the image data, as shown in FIG. 80. This image map is data forspecifying where the floor included in the environment attribute data602 of the environment map 108 and each appliance 104 included in theappliance attribute data 603 are on the console window. The image mapcan be generated as image data. Specifically, the image map is set asimage data each pixel of which is expressed by an integer value, and theinteger values and the appliances are brought into correspondence withthe appliances 104, like: 0 with nothing, 1 with the floor (floor-0001),2 with the table (table-0001), 3 with the refrigerating compartment(refrigerator-0001), 4 with the freezer compartment (freezer-0001), 5with the wastebasket (wastebasket-0001), 6 with the recycle basket(wastebasket-0002), 7 with the microwave oven (Microwave-oven-0001), andthe like.

With the correspondence, when a certain location on the console windowis designated by the cursor, the integer value of the pixel having thesane coordinate values as those in the image map is referred to. Thisenables specification of the designated location as an appliance in theenvironment. Wherein, this processing is performed only when it isconfirmed that any article does not exist at the location designated onthe console window.

The above-described image map can be generated automatically if eachcubic model of the appliances 104 is known and the installation locationof each appliance can be computed accurately. Further, if the image mapwould be difficult to generate automatically, it may be generatedmanually. Usually, each appliance 104 in the environment is rarely movedonce installed in the environment, so that it is rarely needed to modifythe image map once generated.

The latter processing 2) is necessary because the console window isgenerated on the basis of the camera images as described above, and anyarticle accommodated inside an appliance 104 cannot be capturedpositively in the camera images, so that the corresponding article icondoes not appear on the console window. In order to enable the user todesignate an article icon not appearing on the console window, theconsole window is composed as follows.

As described above, in the present system, the article/mobile existencedatabase 106 registers the current locations of the articles in theenvironment. Accordingly, the existence of an article accommodatedinside an appliance 104 can be grasped by referring to thearticle/mobile existence database 106.

Utilizing this matter, the article/mobile existence database 106 isreferred to when the cursor points an appliance on the console window:Then, whether or not any articles are accommodated in the appliance 104is checked. If an article is accommodated therein, the article iconcorresponding to the article is indicated on the console window in apop-up style, as shown in FIG. 81. The example illustrated in FIG. 81Ashows the case where an article icon indicating an ice cream and anarticle icon indicating a Popsicle which are accommodated inside thefreezer compartment that the cursor points are displayed in the pop-upstyle, and the example illustrated in FIG. 81B shows the case where anarticle icon indicating a lunch pack and an article icon indicating abanana which are accommodated inside the refrigerating compartment thatthe cursor points are displayed in the pop-up style.

Thus, when an article icon is clicked by the cursor when the articleicon is indicated in the pop-up style, the article is pointed as asubject article. It is noted that the article icon display style is notlimited thereto and another display style may be employed. Article namesmay be displayed rather than the article icons.

Moreover, only two articles are accommodated in each of therefrigerating compartment and the freezer compartment in the exampleshown in FIG. 81, so that the articles (article icons) accommodatedtherein can be all displayed in one window. In contrast, if a largenumber of articles would be accommodated inside an appliance 104, itwould be expected that the console window is too complicated for theuser to designate a desired article icon when all the article icons aredisplayed in the pop-up style. In order to deal with this problem, whenan appliance 104 accommodates a large number of articles, the articlesare classified category by category in a branch structure and thehierarchy is followed from the upper category to the lower category toallow the article icons to be displayed, for example. Referring to therefrigerating compartment and the freezer compartment as examples,articles to be accommodated therein are food usually, and therefore,categories of meat, vegetable, and the like are displayed, for example,on the console window to allow the user to select one of the categories.When one of the categories is selected, article icons belonging to theselected category are displayed. In this display, in the case where thearticles are food, a predetermined number of article icons may bedisplayed in the order of earlier freshness date. Or, in the case of therefrigerating compartment or the freezer compartment, a predeterminednumber of article icons having higher frequencies of taking out andputting in may be displayed. These display schemes lead the consolewindow to be easy for user to view. Wherein, the display according tothe frequency of taking out and putting in implies that: in a case offood, for example, an article having a higher frequency of taking outand putting in is liable to deteriorate severer, and therefore, such anarticle is positively and prominently displayed; and an article to beused frequently is displayed with priority.

It is noted that indication for designating an article icon notappearing on the console window is not limited to the pop-up style.

The controller 119 of the console terminal 103 generates, when a subjectarticle and its transfer destination are designated on the consolewindow, instruction data according thereto, as described above, andsends it to the laborer robot 102 through the transceiver 109.

The instruction data is base data for allowing the task plan generator161 of the robot 102 to generate a robot control command and includestwo values of:

(subject article, transfer destination of subject article).

The instruction data when task details of transfer of the notebook tothe table are designated by drag-and-dropping the notebook icon onto thetable on the console window, for example, is:

(notebook S-0001 (subject article), table table-0001 (transferdestination)).

It is noted that only the locations (floor and the appliances 104)registered in the environment attribute database 602 or the applianceattribute database 603 can be designated as the transfer destination.

Further, if the transfer destination would include a comparatively widerange such as the floor, for example, and an exact location could not beidentified with the transfer destination by the mere name (ID) thereof,the coordinate values (world coordinate system shown in FIG. 76) isattached to the transfer destination. For example, the instruction dataof transfer of the notebook onto the floor is:

(notebook S-0001, floor floor-0001 (x1, y1, 0)).

It is noted that as shown in FIG. 75B, the correspondence between alocation designated on the console window and coordinate values of theworld coordinate system can be computed on the basis of a cubic modelobtained by modeling the state within the environment used as theenvironment map 108 and various kinds of parameters (camera location,camera posture, an angle of view, and the like) of the camera used forcapturing image data for the console window. This computation is knownin the technical art of computer graphics, and therefore, thedescription thereof is omitted.

It is also noted that drag-and-dropping of an article icon on theconsole window composes a console interface for designating an articleand its transfer destination but the operation for designating anarticle and its transfer destination is not limited to thedrag-and-dropping and another operation may be employed appropriately.

Constitution of Laborer Robot

The laborer robot 102 serving as the fourth subsystem performs a task ofhandling an article in the environment in accordance with task detailsdesignated by the user.

As shown in FIG. 70, the robot 102 includes, as basic elements, a sensor111 for detecting an obstacle and the like around the robot 102 and foracquiring information about an article to be handled, a grabbing element112 for grabbing an article, a travel plan generator 113 for generatinga travel plan with the use of the environment map 108, a travel device114 for moving the robot 102 itself, a transceiver 109 forsending/receiving various kinds of data between the environmentmanagement server 101 and the console terminal 103, a task plangenerator 161 for generating a task plan for allowing the robot 102 toexecute task details designated by the user, a robot control commanddatabase 165 in which a robot control command for operating an appliance104 is stored, and a controller 115 for controlling the sensor 111 andeach elements 109, 112 to 116, and 161.

Each task executed by the robot 102, such as an article grabbing task,an article transferring task, and the like, which will be describedlater in detail, is performed in such a manner that the transceiver 109receives coded instruction data, the task plan generator 161 generates,on the basis of the received instruction data, a robot control commandrow, then the controller 115 processes the thus generated robot controlcommand row in sequence.

FIG. 82 is a schematic view illustrating one example of the constructionof the robot 102 in the present system. The robot 102 includes a mainbody 10 substantially in the shape of a box for accommodating the travelplan generator 113, the controller 115, and the like. Herein, the rightside, the left side, the back side, and the front side on the paper ofFIG. 82 are called the front side, the rear side, the left side, and theright side, respectively.

The grabbing element 112 includes a multi-joint arm 12 a and a hand 12 barranged at the tip end of the arm 12 a and is mounted on the upper faceof the main body 10. The arm 12 a and the hand 12 b may be those usingactuators by motor control or using other actuators such as actuators ofartificial muscles. The grabbing element 112 performs, when an articlegrabbing location is instructed in a robot control command, which willbe described later, an article grabbing operation, namely, an operationof moving the tip end of the arm 12 a to the location and grabbing thearticle by the and 12 b. The grabbing element 112 itself may perform armcontrol for moving the hand 12 b. Similarly, when release of the grabbedarticle is instructed in the robot control command, which will bedescribed later, the grabbing element 112 performs a hand 12 releaseoperation.

The travel device 114 includes two pairs of wheels 14 mounted on theright and left sides of the main body 10 (the wheels on the left sideare not shown in the drawings). Herein, the travel device 114 iscomposed of the wheels 14 but the composition of the travel device 114may be selected optimally according to environment where the robot 102is used. For example, in the case where the floor face is rather roughin the environment, the travel device 114 is preferably formed of acrawler or a multi legged walking robot, or the like. It is noted thatin the case where the grabbing element 112 can move in every region ofthe environment, the travel device 114 may be omitted.

In the present system, the obstacle sensor 111 includes a ultrasonicsensors 11 a, stereo cameras 11 b as auditory sensors, and collisionsensors 11 c.

Each ultrasonic sensor 11 a computes a rough distance from the sensor 11a to an obstacle by measuring a time period from origination of aultrasonic wave to receipt of the reflection wave thereof to detect anobstacle in a short range before collision therewith. The ultrasonicsensors 11 a are mounted three by three at each side face (front face,rear face, and right and left faces) of the main body 10.

Each stereo camera 11 b receives a surrounding state of the robot 102 asan image and performs processing such as recognition of the image toacquire further accurate information for checking the presence orabsence of an obstacle and information about a subject article to begrabbed. The stereo cameras 11 b are mounted at the front part of themain body 10.

The collision sensors 11 c are sensors for detecting receipt ofpredetermined impact force to the robot 102. For example, the collisionsensors 11 c detect collision of an obstacle with the robot 102,collision of the robot 102 in action with an obstacle, or the like. Thecollision sensors 11 c are mounted at the front face and the rear faceof the main body 10.

When travel of the robot 102 which is accompanied by a task oftransferring an article or another task is designated, the travel plangenerator 113 generates, with the use of the environment map 108, atravel path from the current location of the robot 102 to the designatedlocation (target place). In the travel, any obstacle must not exist onthe travel path from the current location to the target place, whereinthe robot off-limits region (hatched region in FIG. 75C, for example) isset in the environment map 108, as described above. Therefore,generation of a travel path in a region other than the off-limits regionmeans generation of a travel path that detours every obstacle. Forexample, in order to allow the robot 102 to travel from a point A1 to apoint A2 in the environment map 108 using a planer model of FIG. 75C, arout (see an arrow in FIG. 75C) that detours the off-limits region isgenerated taking account of the size of the robot 102. Such a travelpath may be generated using a Dijkstra method that is the most generalmethod or using a path search algorithm, which is an improved Dijkstramethod, if the environment is complicated. Further, every time when thesensor 111 detects an obstacle after the travel based on a generatedtravel path starts, a new path is generated again for detouring thedetected obstacle.

It is noted that for dealing with the case where the state of theenvironment is too complicated to compute a travel path of the robot 102or where the state thereof is so complicated as to take too long timefor the computation, a mode that allows the user to designate a travelpath of the robot 102 may be provided.

The controller 115 of the laborer robot 102 sends instruction data sentfrom the outside through the transceiver 109 to the task plan generator161 for converting it to a robot control command and receives a robotcontrol command row converted by the task plan generator 161, therebyexecuting the commands in sequence.

The robot control command is a command for executing grabbing of anarticle, travel of the robot 102 itself, or control of the appliances104, and is roughly divided into four types, “travel,” “grab,”“release,” and “appliance operation.” The four types of commands will bedescribed briefly.

1) Travel: (move, coordinates) or (move, appliance ID)

This is a command for allowing the robot 102 to travel from the currentlocation of the robot 102 to a location designated in the coordinates ora location of the appliance designated by the appliance ID. Coordinatesare specified in a coordinate system optimal for the state, and thetravel plan generator 113 plans a travel path from the current locationto a target place.

In a case of travel to the location of an appliance designated by anappliance ID, a path to approach a place with a predetermined distanceleft from the appliance is generated, wherein the coordinates of theappliance are computed utilizing the appliance attribute data 603 of theenvironment map 108.

2) Grab: (grab, article ID)

This is a command for grabbing by the hand 12 b an article designated byan article ID. The article database 106 a is referred to for thelocation of the article and the grabbing element 112 generates agrabbing plan.

3) Release: (release)

This is a command for releasing an article from the hand 12 b.

4) Appliance Operation (robot ID, appliance ID, appliance operationcommand)

This is a command for sending a designated appliance operation commandto an appliance 104 designated by an appliance ID. The applianceoperation command is an instruction command that a subject appliance 104receives from the outside, as described above, and the appliance 104that receives the appliance operation command executes processingcorresponding to the command. Wherein, the reason why the robot ID isattached to the appliance operation command is that an appliance 104that receives an appliance operation command sends a return value to thesender of the command.

So far, the four types of robot control commands are described briefly.It is needless to say that the robot control command is not limited tothese four types and the types may be increased according to needs.

The task plan generator 161 of the laborer robot 102 receivesinstruction data sent from the console terminal 103 and converts theinstruction data into a robot control command with reference to therobot control command database 165 according to necessity, therebygenerating a task plan.

The task plan generator 161 and the robot control command database 165are provided in the present system, so that the user can make the robot102 execute an appropriate task by only designating a desired articleand a transfer destination of the article through the console terminal103.

Specifically, as described above, the instruction data is data includingtwo values of:

(subject article, transfer destination of subject article),

and means “transfer of a designated subject article to a designatedtransfer destination.” Herein, if the designated subject article is in astate in which the robot 102 can garb a subject article as it is and inthe state in which the robot 102 can releases the subject article as itis, namely, if the operation of the robot 102 is not obstructed inexecuting the designated task for the robot 102, the robot controlcommand database 165 is unnecessary.

In contrast, in the case where a designated subject article isaccommodated inside an accommodation section of which door is closed,the door must be opened before the robot 102 grabs the subject article.Also, in the case where a designated transfer destination is the insideof the accommodation section of which door is closed, the door must beopened before the robot 102 grabbing a subject article releases it. Inthis connection, if the user would have to further designate a dooropening/closing operation for designating task details of transferringan article accommodated in an accommodation section to anotheraccommodation section, for example, ease of operation would becomeworse.

Moreover, in the case where a designated transfer destination is anappliance for exerting an action on an article accommodated therein,such as the microwave oven, the user may desire not only to accommodatethe article within the microwave oven but also to heat the article. Ifthe user who wishes to designate details of a task for the robot 102would be required to designate an action to be exerted on the subjectarticle, in addition to a subject article and a transfer destination,the designation operation by the user would become complicated.

For tackling these disadvantages, it is necessary to provide knowledgedata for generating a robot control command which includes an action ofan appliance 104 on the basis of instruction data including a subjectarticle and a transfer destination. The robot control command database165 is provided for storing the knowledge data. The constitutions andfunctions of the appliances 104 are different from each other, andtherefore, the knowledge data is set for each appliance 104. The robotcontrol command database 165 contains robot control commands forappliances' actions on the appliance 104 basis.

FIG. 83 shows tables indicating examples of the robot control commandsstored in the robot control command database 165. The robot controlcommand database 165 includes appliance IDs, location attributes, andthe robot control commands, so as to correspond to one another. Ofthese, the “appliance IDs” stores IDs of the appliances 104. The“location attributes” are divided into a transfer origin and a transferdestination, wherein the “transfer origin” corresponds to the case wherethe appliance 104 accommodates a subject article designated in thedesignated data while the “transfer destination” corresponds to the casewhere an appliance 104 is designated as a transfer destination intowhich the subject article is to be accommodated.

The robot control commands are described separately so as toindividually correspond to the “transfer origin” and the “transferdestination.” Each command basically includes three values of:

(robot ID, appliance ID, appliance operation command).

A robot control command list (row) will be specifically described withreference to an example of the case where the refrigerating compartment(Refrigerator-0001) is a transfer origin. The robot control command rowin this case is a command row where transfer of an article accommodatedin the refrigerating compartment is designated in instruction data fromthe console terminal 103.

The robot control command row includes three commands, which meanexecution of the following operations.

1) (Robot-0001, Refrigerator-0001, door-open): to allow therefrigerating compartment to open the door

2) (grab, $object): to allow the robot to grab and take out an article

3) (Robot-0001, Refrigerator-0001, door-close): to allow therefrigerating compartment to close the door

Herein, an ID of a subject article is applied to “$object” in (grab,$object). In this way, information of which value varies according tothe state is set as a variation by attaching “$”, and the article ID isapplied to the variation when a subject article is set in theinstruction data. Thus, the robot control command bears generality.

Further, in the case where the microwave oven (Microwave-oven-0001) is atransfer destination, the robot control command row includes fivecommands as follows.

1) (Robot-0001, Microwave-oven-0001, is-object): to allow the microwaveoven to confirm whether or not any article exists in the inside thereof

2) (Robot-0001, Microwave-oven-0001, door-open): to allow the microwaveoven to open the door

3) (release, $object): to allow the robot to release the article

4) (Robot-0001, Microwave-oven-0001, door-close): to allow the microwaveoven to close the door

5) (Robot-0001, Microwave-oven-0001, warm start): to allow the microwaveoven to start heating the inside thereof.

Of the above commands, the robot control command 1) is a command forallowing the microwave oven to confirm whether or not any articles existinside the microwave oven, which is necessary because a subject articlecould not be put therein if any other article would exist within themicrowave oven as a transfer destination. When the return value from themicrowave oven is “False,” there is no article therein, and accordingly,the controller 162 can execute the following commands 2) to 5) insequence. While, when the return value from the microwave oven is“True,” namely, when there is some article within the microwave oven,the controller 162 preferably informs the user of the existence of thearticle inside the microwave oven and halts execution of the followingcommands 2) to 5).

Moreover, in the case where the microwave oven has, as a function of“heating” an article, a plurality of modes such as a “warming” mode, a“thawing” mode, and the like, it is preferable to provide a plurality ofappliance operation commands (robot control commands) correspondingly.In the case where plural appliance operation commands are provided inthis way, a robot control command row may be generated so that the robot102 is allowed to recognize the attribute of a subject article and tosend an appliance operation command corresponding thereto to themicrowave oven.

For example, when an article is recognized as a frozen food on the basisof image processing, a temperature sensor, or information on anelectronic tag attached to the article, an appliance operation commandfor setting the “thawing” mode may be sent to the microwave oven.Alternatively, when a command “warm-start” is received as an applianceoperation command, the microwave oven may check the attribute of anarticle therein on the basis of image processing or information on anelectronic tag so that the microwave oven exchange modes between the“warning” mode and the “thawing” mode according to the attribute of thearticle.

Next, the procedure for generating a robot control command which thetask plan generator 161 of the laborer robot 102 performs will bedescribed with reference to the flowchart of FIG. 84.

As described above, when the user designates task details through theconsole terminal 103, the console terminal 103 sends instruction data tothe laborer robot 102 through the network. In a step S1201, theinstruction data is read.

In a subsequent step S1202, the current location of the designatedsubject article is recognized on the basis of the read instruction databy referring to the article database 106 a of the server 101. Uponrecognition of the current location of the subject article, in a stepS1203, a robot control command for allowing the robot 102 to travel fromthe current location of itself to the current location of the subjectarticle is generated.

Next, in a step S1204, whether or not the designated subject article isaccommodated in an appliance 104 is checked. This check is performed byjudging whether or not the current location of the subject article is anappliance 104 registered in the appliance attribute data 603 of theenvironment map 108. When it is YES, namely, when the subject article isaccommodated in the appliance 104, the routine proceeds to a step S1205.On the other hand, when it is NO, namely, when the subject article isnot accommodated in the appliance 104, the routine proceeds to a stepS1206.

In the step S1205, the robot control command (row) where the appliance104 is a transfer origin is read from the robot control command database165, as described above, and the read command (row) is added to a robotcontrol command that has been already generated.

In the step S1206, a robot control command for allowing the robot 102 totravel to the transfer destination designated in the instruction data isgenerated. The thus generated robot control command is added to therobot command that has been already generated.

In a step S1207, whether or not the transfer destination is inside anappliance 104 is checked. This check is performed by judging whether ornot the transfer destination is an appliance 104 registered in theappliance attribute data 603 of the environment map 108, likewise thestep S1204. When it is YES, namely, the transfer destination is insidethe appliance 104, the routine proceeds to a step S1208. On the otherhand, when it is NO, namely, when the transfer destination is not insidethe appliance 104, the routine proceeds to a step S1209.

In the step S1208, as described above, the robot control command (row)where the appliance 104 is the transfer destination is read from therobot control command database 165, and the read command (row) is addedto the robot control command row that has been already generated.

In the step S1209, the finally generated robot control command row issent to the controller 115.

The procedure in which the robot 102 executes task details that the userdesignates in the present system constituted as above will be describedwith reference to a specific example. Herein, an example is referred toin which the user designates task details of “transferring a lunch pack(F-0001) accommodated in the refrigerating compartment(Refrigerator-0001) into the microwave oven (Microwave-oven-0001) (forwarming).

First, the console window shown in FIG. 79, for example, is displayed inthe display section 117 of the console terminal 103. When the useroperates the input section 116 to designate the refrigeratingcompartment in the virtual space by the cursor, articles (article icons)accommodated in the refrigerating compartment are displayed in thepop-up style, as shown in FIG. 81B. When the lunch pack icon is selectedby operating the input section 116, the “lunch pack” is designated as asubject article.

Next, the user operates the input section 116 so as to drag-and-drop thelunch pack icon onto the microwave oven in the virtual space todesignated the “microwave oven” as a transfer destination, therebycompleting user's operation for designating task details.

When the task details are designated in this way, the console terminal103 generates instruction data and sends it to the laborer robot 102.The subject article is the lunch pack (F-0001) and the transferdestination is the microwave oven (Microwave-oven-0001), andaccordingly, the instruction data is:

(F-0001, Microwave-oven-0001).

The task plan generator 161 of the laborer robot 102 reads theinstruction data sent from the console terminal 103 (the step S1201) andrecognizes the current location of the lunch pack as the subject articleby referring to the article database 106 a of the server 101 (the stepS1202). The lunch pack is accommodated in the refrigerating compartment(Refrigerator-0001), and accordingly, the robot control command forallowing the robot 102 to travel to the refrigerating compartment:

(move, Refrigerator-0001)

is generated (the step S1203).

Subsequently, the task plan generator 161 checks whether or not thelunch pack is accommodated in an appliance 104 (the step S1204). Therefrigerating compartment (Refrigerator-0001) is registered in theappliance attribute data, as shown in FIG. 76, which means that thelunch pack is accommodated in the appliance 104. Accordingly, the robotcontrol command (row) where the refrigerating compartment is thetransfer origin is read from the robot control command database 165 (thestep S1205). Specifically, as shown in FIG. 83,

(Robot-0001, Refrigerator-0001, door-open),

(grab, F0001), and

(Robot-0001, Refrigerator-0001, door-close)

are read. Wherein, “F-0001” as an ID of the lunch pack is alreadyassigned to the variation, “$object.” This robot control command row isadded to the robot control command row that has been already generated.

The transfer destination designated in the instruction data is themicrowave oven, and accordingly, the task plan generator 161 generates arobot control command for allowing the robot 102 to travel to themicrowave oven (the step S1206). Specifically,

(move, Microwave-oven-0001)

is generated and added to the robot control command row that has beenalready generated.

The task plan generator 161 subsequently checks whether or not thetransfer destination is inside the appliance 104 (the step S1207). Themicrowave oven (Microwave-oven-0001) is an appliance 104 registered inthe appliance attribute data 603 (see FIG. 76), and accordingly, thetransfer destination is inside the appliance 104. The task plangenerator 161 reads from the robot control command database 165 a robotcontrol command (row) where the microwave oven is a transfer destination(the step S1208). Specifically, as shown in FIG. 83,

(Robot-0001, Microwave-oven-0001, is-object),

(Robot-0001, Microwave-oven-0001, door-open),

(release, F-0001),

(Robot-0001, Microwave-oven-00001, door-close), and

(Robot-0001, Microwave-oven-0001, warm-start)

are read. Wherein “F-0001” as an ID of the lunch pack is alreadyassigned to the variation, “$object.” This robot control command row isadded to the robot control command row that has been already generated.

The robot control command row thus generated by the task plan generator161 so as to correspond to the task details of transfer of the lunchpack in the refrigerating compartment to the microwave oven is as shownin FIG. 85.

The controller 115 controls the travel device 114 and the grabbingelement 112 on the basis of the thus generated robot control commandrow. As a result, the robot 102 executes transfer of the lunch pack inthe refrigerating compartment to the microwave oven and heating of it bythe microwave oven.

At that time, the controller 115 executes the commands of the robotcontrol command row in sequence, wherein the execution timing of eachcommand is set appropriately according to the state.

For example, in the above robot control command row, there are two robotcontrol commands in series:

1) (move, Refrigerator-0001): to allow the robot 102 to travel to therefrigerating compartment, and

2) (robot-0001, Refrigerator-0001, door-open): to send an applianceoperation command for opening the door from the robot 102 to therefrigerating compartment.

However, the controller 115 may execute the command 2) only aftercompletion of the command 1). Alternatively, the command 2) may beexecuted a predetermined time period before completion of the command1). Namely, the door of the refrigerating compartment may be openedbefore the robot 102 reaches the refrigerating compartment. This attainssmooth task execution, resulting in reduction in time period requiredfor the task. It is noted that each timing of command execution may beset in advance according to the relationship between a command and thepreceding command or the following command or may be determined, ifpossible, by inference as occasion arises.

Furthermore, the controller 115 may execute a robot control command rowimmediately after the task plan generator 161 generates it. Or, the taskplan generator 161 may notify details of the robot control command rowgenerated by the task plan generator 161 to the outside before thecontroller 115 starts executing the robot control command row.

For example, in the flowchart shown in FIG. 84, the generated robotcontrol command row may be sent to the console terminal 103 through thenetwork after the step S1208 and before the step S1209. The consoleterminal 103 receives and interprets the robot control command row toallow the display section 117 to display the task details to be executedaccording to the robot control command row. For example, as shown inFIG. 86, an article icon as a subject article is displayed while thenames of a transfer origin and a transfer destination are displayed inthe form of letters. FIG. 86 corresponds to the aforementioned specificexample, wherein the lunch pack icon is displayed as the subject articlewhile the letters “Refrigerator” and the letters “Microwave oven” aredisplayed as the transfer origin and the transfer destination,respectively. The example shown in the drawing indicates an arrow fromthe transfer origin to the transfer destination in the virtual space forclarifying the transfer origin and the transfer destination of thearticle. Further, in the case where the subject article is to besubjected to an action at the transfer destination, the action isdisplayed in the form of letters. In FIG. 86, the letters “heating” aredisplayed. It is noted that in the case where a transfer origin and atransfer destination of an article are not any appliance 104 (in thecase where they have no names as appliances 104), letters indicating thetransfer origin and the transfer destination are not displayed. Further,the display for task details confirmation by the user is not limited tothe example shown in FIG. 86. The name of a subject article may bedisplayed in the form of letters or a transfer origin and/or a transferdestination in the virtual space may be highlighted. Alternatively, asentence explaining task details, such as “transfer of lunch pack inrefrigerating compartment into microwave oven and heating of it” may bedisplayed in the display section 117, for example. Further, notificationof the task details is not limited to such display schemes and the taskdetails may be notified by sound.

Notification of task details to the outside leads the user (includingthe user who designates the task details) to know the task detailsassigned to the robot 102. Hence, a task based on an erroneous operationcan be prevented from being executed even if the user would makemiss-operation on the console window, namely, even if the user who triesto drag-and-drop the lunch pack icon onto the microwave oven in thevirtual space drag-and-drops it onto the refrigerating compartment inerror in the above specified example, for example.

Moreover, in the case where a transfer destination is an appliance 104for exerting an action on a subject article, such as a microwave oven,the system may miss-operate the an action on the subject article. Forexample, when task details of transferring a “frozen meat” as a subjectarticle into the microwave oven are designated, a robot control commandfor “warming” the “frozen meat” at the microwave oven rather than for“thawing” the “frozen meat” at the microwave oven may be generated. Evenin this case, notification to the user leads to prevention of erroneoustask from being executed.

Furthermore, in a case of erroneous task details or in the case wherethe user changes the designated task details, the input section 116 ofthe console terminal 103 is preferably operated to appropriately modifythe task details in the console window.

In the above description, the user operates the console terminal 103 todesignate details of a single task, in detail, designates transfer ofone desired article to one transfer destination. While, there are somecases where user's operation for designation would be facilitated ifdetails of a plurality tasks would be designated at once. For example,the following plural tasks are executed for a single articlesuccessively.

1) Putting of a lunch pack accommodated in the refrigerating compartmentinto the microwave oven and warming of it

2) Transfer of the lunch pack in the microwave oven to the user'slocation after completion of lunch pack warming

In such a case, it is preferable that the above task details 1) and 2)are designated at once on the console window and the laborer robot 102executes the designated plural tasks in sequence. For designation ofplural tasks on the console window, the article icons may bedrag-and-dropped successively, for example. Specifically, in the aboveexample, the lunch pack icon is drag-and-dropped onto the microwave ovenin the virtual space and the lunch pack icon dropped on the microwaveoven is drag-and-dropped onto the user's location in the virtual space,thereby designating the above tasks 1) and 2).

There is another case where tasks for a plurality of articles areexecuted in parallel. For example:

1) The lunch pack in the refrigerating compartment is transferred to themicrowave oven; while

2) A banana in the refrigerating compartment is transferred onto thetable.

In this case, also, it is preferable that the above task details 1) and2) are designated at once on the console window and the robot 102executes the designated plural tasks in sequence. In so doing, theefficiency of the tasks as a whole may be enhanced by allowing the robot102 to schedule the plurality of tasks. In the above example, the robot102 may schedule the tasks such that the door of the refrigeratingcompartment is opened, the desigriated lunch pack and banana are takenout at once, and then, of the taken-out two articles, the lunch pack istransferred to the microwave oven while the banana is transferred ontothe table rather than tasks such that the lunch pack in therefrigerating compartment is transferred to the microwave oven, the doorof the refrigerating compartment is opened again, and then, the bananais taken out and is transferred onto the table. In order to enableexecution of the above tasks, the laborer robot 102 may have a pluralityof arms 12 a and hands 12 b, rather than that having one arm 12 a andone hand 12 b (see FIG. 82), so as to be capable of grabbing a pluralityof articles simultaneously.

As described so far, the article handling system of the presentinvention is a system for handling an article existing in apredetermined life space (environment) and includes the robot 102 forperforming the above-described article handling, the input section 116for inputting a task instruction including a task subject article forthe robot 102 and a transfer destination of the subject article, and thetask plan generator 161 for generating a task plan according to the taskinstruction received.

The task plan generator 161 generates a task plan for allowing the robot102 to transfer a subject article included in a task instruction to atransfer destination while supplementing a task at the transferdestination.

With the above constitution, when the user inputs only a task subjectarticle for the robot 102 and a transfer destination of the subjectarticle through the input section 116, a task instruction (instructiondata) including the task subject article for the robot 102 and thetransfer destination of the subject article is generated.

Upon receipt of the task instruction, the task plan generator 161generates a task plan for allowing the robot 102 to transfer the subjectarticle to the transfer destination while supplementing a task at thetransfer destination according to the transfer destination. Thiseliminates the need of the user to designate an additional task detailstaking account of the transfer destination of the article. Thus, theoperation for designating task details to be executed by the robot 102is simplified, enabling every user to easily operate the robot 102.

In the present invention, transfer destinations to be included in theabove-described task instruction include an appliance 104 that has anaccommodation section for accommodating an article. When a transferdestination included in a task instruction is an appliance 104 thatincludes the accommodation section, the task plan generator 161 adds tothe task plan an operation of the appliance 104 which is necessary forputting the article into the accommodation section.

By this addition, even in the case where the transfer destination is anappliance 104 having an accommodation section and an operation of theappliance 104 necessary for putting an article into the accommodationsection, for example, a door opening/closing operation is necessary, theuser is not required to input task details for operating the appliance104.

In the present invention, subject articles to be included in theabove-described task instruction include an article accommodated in anaccommodation section of an appliance 104. In the case where a subjectarticle included in a task instruction is an article accommodated in anaccommodation section, the task plan generator 161 adds to the task planan operation of the appliance 104 necessary for taking out the articlefrom the accommodation section.

By this addition, even in the case where a subject article included in atask instruction is accommodated in an accommodation section of anappliance 104 and an operation of the appliance 104 necessary for takingout the article from the accommodation section, for example, a dooropening/closing operation is necessary, the user is not required toinput a task for operating the appliance 104.

In the present invention, transfer destinations include an appliance 104for exerting an action on an article. When a transfer destinationincluded in a task instruction is an appliance 104 that exerts anaction, the task plan generator 161 adds to the task plan an action ofthe appliance 104 for exerting the action on the subject article.

By this addition, even when the user designates task details oftransferring an article to an appliance 104 for the purpose of exertinga predetermined action on the article, the user is not required to inputtask details for operating the appliance 104. Referring to one example,when the user designates transfer of a food to the microwave oven forthe purpose of heating the food, task details of heating the food by themicrowave oven is added to the task plan without designating the taskdetails of “heating the food by the microwave oven.” Thus, operation fordesignating details of a task to be executed by the robot 102 is furtherfacilitated.

In the present invention, the task plan generator 161 selects an actionaccording to a subject article from a plurality of actions and adds tothe task plan an action of an appliance for exerting the selected actionon the subject article.

By the selection and addition, the action according to a subject articleis exerted on the article without designating the action to be exertedon for the subject article. Referring to one example, in the case wherethe transfer destination is the microwave oven and the subject articleis a frozen food, an appliance's action of thawing the frozen food isadded to the task plan. In contrast, in the case where the transferdestination is the microwave oven and the subject article is a cookedfood, an appliance's action for warming the cooked food is added to thetask plan. In this way, an action to be exerted on a subject article isdetermined according to the subject article and the action of theappliance is added to the task plan, eliminating user's designationoperation for exerting the action on the article. This facilitatesdesignation of details of a task to be executed by the robot, realizinga user-friendly system.

In the present invention, the above-described appliances 104 perform,upon receipt of a task plan, the appliances' action included in the taskplan. This simplifies constitution of the robot 102 compared with thecase where the robot 102 itself opens/closes the door of the appliance104 with the use of the arm 12 a or operates various switches providedin the appliance 104 with the use of the arm 12 a.

In the present invention, the article handling system further includesthe notification section 117 for notifying the task details generated bythe task plan generator 161 before the robot 102 starts executing thetask according to the task details.

The present system supplements a task plan, and accordingly, the robot102 may execute a task that the user does not intend. Also, the user maymake a mistake in designating task details. In this connection, thenotification section 117 is provided for notifying a task plan generatedby the task plan generator 161 before the robot 102 starts executing thetask. This notification enables the user to confirm the task plan,thereby preventing the robot 102 to execute an erroneous task.

Another article handling system of the present invention includes therobot 102 for performing the article handling, the input section 116 forinputting a task instruction including a task subject article for therobot 102 and a transfer destination of the subject article, and thetask plan generator 161 for generating a task plan according to the taskinstruction received.

Wherein, the task plan generator 161 generates a task plan for allowingthe robot 102 to transfer a subject article included in the taskinstruction to a transfer destination while supplementing a taskaccording to the state of the subject article before the transfer.

With this constitution, as described above, when the user inputs only atask subject article for the robot 102 and a transfer destination of thesubject article through the input section 116, the task plan generator161 generates a task plan for allowing the robot 102 to transfer thesubject article to the transfer destination while supplementing a taskat the transfer destination according to the state of the subjectarticle before the transfer. Accordingly, the user is not required todesignate an additional operation taking account of the transfer originof the article. Thus, the operation for designating task details to beexecuted by the robot 102 is facilitated, enabling every user to easilyoperate the robot 102.

Still another article handling system of the present invention includesthe robot 102 for performing the article handling, the operationdatabase 165 in which operation details of the appliances 104 existingin the life space are accumulated, the input section 116 for inputting atask instruction including a task subject article for the robot 102 anda transfer destination of the subject article, and the task plangenerator 161 for generating, according to the task instructionreceived, a task plan for allowing the robot 102 to transfer a subjectarticle included in the task instruction to a transfer destination whilereferring to the operation database 165.

With the above constitution, when the user inputs only a task subjectarticle for the robot 102 and a transfer destination of the subjectarticle through the input section 116, the task plan generator 161generates a task plan with reference to the operation database 165 inwhich the details of the operations of the appliances 104 areaccumulated. Hence, the user can designate task details to be executedby the robot 102 without taking account of the operations of theappliances 104.

Other Embodiments

In the present embodiment, the console terminal 103 sends instructiondata to the laborer robot 102 and the laborer robot 102 generates arobot control command. However, the instruction data may be sent fromthe console terminal 103 to the server 101 for allowing the server 101to generate a robot control command and to send the thus generatedcommand to the laborer robot 102, for example. In this case, a commandfor an appliance' operation out of the robot control commands may besent directly from the server 101 to a corresponding appliance 104.Alternatively, the console terminal 103 may generate a robot controlcommand according to the task details designated on the console windowand send it to the laborer robot 12 (and/or a corresponding appliance104).

Further, in the present embodiment, the article handling system includesfour subsystems of the environment management server 101, the robot 102,the console terminal 103, and the appliances 104 so that the subsystems101 to 104 exchange information through the network such as a wirelessnetwork, a wired network, or the like. However, the article handlingsystem is not limited to this constitution and may include anintegration of the console terminal 103 and the environment managementserver 101, for example. Alternatively, the console terminal 103 may beintegrated with the laborer robot 102.

Further, the robot 102 may include a plurality of robots for performingtasks in parallel in harmony.

The console window is not limited to that shown in FIG. 79 only if itcan designate at least a subject article and a transfer destination. Forexample, the console window may display an article icon corresponding toan article in the environment and a location icon indicative of alocation to be a transfer destination.

As describe so far, in the article handling system and the server forhandling an article according to the present invention, a task plan isgenerated while supplementing a task at an input transfer destination,which requires the user to input only a task subject article for therobot and a transfer destination of the subject article, facilitatingthe operation for designating details of a task to be executed by therobot to enable every user to easily operate the robot.

1. An article transfer system, comprising: a robot for transferring anarticle existing in a predetermined life space; a console unit includinga display section for displaying a console window and an input sectionwhich serves as an interface for a user, the console window including anarticle icon indicative of an article existing in the life space and ageneric icon generically indicative of a plurality of locations in thelife space; an article database containing attribute information of thearticle; and a controller for controlling the system, wherein when thearticle icon and the generic icon are designated on the console windowthrough the input section, the controller selects a location, from amonga plurality of locations in the life space subordinate to the designatedgeneric icon, according to the attribute information of the articlecorresponding to the designated article icon, the attribute informationbeing retrieved from the article database, and the controller instructsthe robot to transfer the article corresponding to the designatedarticle icon to the selected location in the life space.
 2. The articletransfer system of claim 1, wherein: the console unit has at least oneconsole mode; the article transfer system further includes a displaycontroller for generating a console window which corresponds to theconsole mode; the at least one console mode includes a virtual spaceconsole mode; and the console window of the virtual space console modeincludes a virtual space which simulates actual conditions of the lifespace and an article icon placed in the virtual space such that thearticle icon corresponds to an article existing in the life space. 3.The article transfer system of claim 2 wherein, in the virtual spaceconsole mode, an article icon and a location in the virtual space aredesignated on the console window, whereby an article that the robot isinstructed to transfer and a location to which the article istransferred are designated.
 4. The article transfer system of claim 1,wherein: the console unit has at least one console mode; the articletransfer system further includes a display controller for generating aconsole window which corresponds to the console mode; the at least oneconsole mode includes an action icon console mode; and the consolewindow of the action icon console mode includes an article iconindicative of an article existing in the life space and an action iconindicative of an action exerted on the article.
 5. The article transfersystem of claim 4, wherein: in the action icon console mode, an articleicon and an action icon are designated on the console window, whereby anarticle handled by the robot and an action exerted on the article aredesignated; and when an article icon and an action icon are designatedon the console window, the controller selects a location in the lifespace according to an attribute of the designated article and thedesignated action, and the robot transfers the designated article to theselected location.
 6. The article transfer system of claim 5, whereinthe console window is configured such that an article icon isdrag-and-droppable onto another icon.
 7. The article transfer system ofclaim 6, wherein the console window is configured such that a pluralityof article icons are drag-and-droppable at once onto another icon. 8.The article transfer system of claim 1, further comprising a sensor fordetecting an article existing in a life space, wherein the displaycontroller generates a console window, the console window including anarticle icon which corresponds to an article detected by the sensor. 9.An article transfer system, comprising: a robot for transferring anarticle existing in a predetermined life space; a console unit includinga display section for displaying a console window and an input sectionwhich serves as an interface for a user, the console window including anarticle icon indicative of an article existing in the life space and anaction icon indicative of an action exerted on the article; an articledatabase containing attribute information of the article; and acontroller for controlling the system, wherein when the article icon andthe action icon are designated on the console window through the inputsection, the controller selects a location according to the attributeinformation of an article corresponding to the designated article iconand an action corresponding to the designated action icon, the attributeinformation being retrieved from the article database, and thecontroller instructs the robot to transfer the article corresponding tothe designated article icon to the selected location in the life space.10. The article transfer system of claim 9, further comprising a sensorfor detecting an article existing in a life space, wherein the displaycontroller generates a console window, the console window including anarticle icon which corresponds to an article detected by the sensor. 11.A robot console unit for designating a task which is assigned to a robotfor transferring an article existing in a predetermined life space,comprising: a display section for displaying a console window whichincludes an article icon indicative of an article existing in the lifespace and a generic icon generically indicative of a plurality oflocations in the life space; an input section which serves as aninterface for a user; and a controller for controlling the console unit,wherein when the article icon and the generic icon are designated on theconsole window through the input section, the controller selects alocation, from among a plurality of locations in the life spacesubordinate to the designated generic icon, according to attributeinformation of the article corresponding to the designated article icon,the attribute information being retrieved from an article database, andthe controller instructs the robot to transfer the article correspondingto the designated article icon to the selected location in the lifespace.
 12. The robot console unit of claim 11, further comprising adisplay controller for generating a console window in the displaysection, wherein the display controller displays on the display sectiona console window which includes a virtual space simulating actualconditions of the life space and an article icon placed in the virtualspace such that the article icon corresponds to an article existing inthe life space, and the display controller includes a virtual spaceconsole mode where a task assigned to the robot is designated in thevirtual space by a user through the input section.
 13. The robot consoleunit of claim 11, further comprising a display controller for generatinga console window in the display section, wherein the display controllerdisplays on the display section a console window which includes anarticle icon indicative of an article existing in the life space and anaction icon indicative of an action exerted on the article, the displaycontroller includes an action icon console mode where a task assigned tothe robot is designated on the console window by a user through theinput section.
 14. A robot console unit for designating a task which isassigned to a robot for transferring an article existing in apredetermined life space, comprising: a display section for displaying aconsole window which includes an article icon indicative of an articleexisting in the life space and an action icon indicative of an actionexerted on the article; an input section which serves as an interfacefor a user; and a controller for controlling the console unit, whereinwhen the article icon and the action icon are designated on the consolewindow through the input section, the controller selects a location inthe life space according to attribute information of the articlecorresponding to the designated article icon and an action correspondingto the designated action icon, the attribute information being retrievedfrom an article database, and the controller instructs the robot totransfer the article corresponding to the designated article icon to theselected location in the life space.
 15. An article transfer system,comprising: a robot for transferring an article existing in apredetermined life space; a console unit including a display section fordisplaying a console window and an input section which serves as aninterface for a user, a task assigned to the robot being designated onthe console window through the input section; and a controller whichincludes a location icon console mode and an action icon console mode asconsole mode in the console unit, wherein in the location icon consolemode, a console window which includes an article icon indicative of anarticle existing in the life space and a location icon indicative of aspecific location in the life space is displayed on the display section,and in the action icon console mode, a console window which includes anarticle icon indicative of an article existing in the life space and anaction icon indicative of an action exerted on the article is displayedon the display section, when the article icon and the location icondisplayed in the location icon console mode are designated, thecontroller instructs the robot to transfer an article corresponding tothe designated article icon to a location corresponding to thedesignated location icon according to attribute information in the lifespace corresponding to the designated article icon and the locationcorresponding to the designated location icon, the attribute informationbeing retrieved from an article database, and when the article icon andthe action icon displayed in the action icon console mode aredesignated, the controller selects a location in the life spaceaccording to attribute information of an article corresponding to thedesignated article icon and an action corresponding to the designatedaction icon and instructs the robot to transfer the articlecorresponding to the designated article icon to the selected location inthe life space.
 16. A robot console unit for designating a task which isassigned to a robot for transferring an article existing in apredetermined life space, comprising: a display section for displaying aconsole window; an input section which serves as an interface for auser; a display controller for generating the console window in thedisplay section; and a transmitter for transmitting a controlinstruction to the robot, wherein the display controller generates alocation icon console mode where a console window includes an articleicon indicative of an article existing in the life space and a locationicon indicative of a specific location in the life space is displayed,and a task which is assigned to the robot is designated on the consolewindow by a user through the input section, the display controllergenerates an action icon console mode where a console window includes anarticle icon indicative of an article existing in the life space and anaction icon indicative of an action exerted on the article, and a taskwhich is assigned to the robot is designated on the console window by auser through the input section, when the article icon and the locationicon displayed in the location icon console mode are designated, thedisplay controller transmits a control instruction to the robot totransfer an article corresponding to the designated article icon to alocation corresponding to the designated location icon according toattribute information in the life space corresponding to the designatedarticle icon and the location corresponding to the designated locationicon, the attribute information being retrieved from an articledatabase, and when the article icon and the action icon displayed in theaction icon console mode are designated, the display controller selectsa location in the life space according to attribute information of anarticle corresponding to the designated article icon and an actioncorresponding to the designated action icon and transmits a controlinstruction to the robot to transfer the article corresponding to thedesignated article icon to the selected location in the life space, theattribute information being retrieved from the article database.